ocs2 launch file refact
This commit is contained in:
Huang Zhenbiao
parent
316d333278
commit
fe28277003
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@ -81,7 +81,7 @@ install(
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)
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install(
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DIRECTORY config
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DIRECTORY config launch
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DESTINATION share/${PROJECT_NAME}/
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)
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@ -4,8 +4,9 @@ This is a ros2-control controller based on [legged_control](https://github.com/q
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and [ocs2_ros2](https://github.com/legubiao/ocs2_ros2).
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Tested environment:
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* Ubuntu 24.04
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* ROS2 Jazzy
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* ROS2 Jazzy
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[](https://www.bilibili.com/video/BV1UcxieuEmH/)
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@ -14,20 +15,20 @@ Tested environment:
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Required hardware interfaces:
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* command:
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* joint position
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* joint velocity
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* joint effort
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* KP
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* KD
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* joint position
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* joint velocity
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* joint effort
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* KP
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* KD
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* state:
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* joint effort
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* joint position
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* joint velocity
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* imu sensor
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* linear acceleration
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* angular velocity
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* orientation
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* feet force sensor
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* joint effort
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* joint position
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* joint velocity
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* imu sensor
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* linear acceleration
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* angular velocity
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* orientation
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* feet force sensor
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## 2. Build
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@ -47,23 +48,21 @@ colcon build --packages-up-to ocs2_quadruped_controller
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```
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## 3. Launch
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* Unitree Go1 Robot
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch go1_description ocs2_control.launch.py
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```
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* Unitree Aliengo Robot
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch aliengo_description ocs2_control.launch.py
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```
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* Unitree Go2 Robot
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch go2_description ocs2_control.launch.py
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```
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* Unitree B2 Robot
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch b2_description ocs2_control.launch.py
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```
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supported robot description:
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* Unitree
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* go2_description
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* go1_description
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* a1_description
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* aliengo_description
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* b2_description
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* Xiaomi
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* cyberdog_description
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### 3.1 Mujoco Simulation
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=go2_description
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```
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@ -3,26 +3,21 @@ import os
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import xacro
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import OpaqueFunction, RegisterEventHandler
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from launch.actions import DeclareLaunchArgument, OpaqueFunction, IncludeLaunchDescription, RegisterEventHandler
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from launch.event_handlers import OnProcessExit
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from launch.substitutions import PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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package_description = "anymal_c_description"
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package_controller = "ocs2_quadruped_controller"
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def process_xacro():
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def launch_setup(context, *args, **kwargs):
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package_description = context.launch_configurations['pkg_description']
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pkg_path = os.path.join(get_package_share_directory(package_description))
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xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro')
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robot_description_config = xacro.process_file(xacro_file)
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return robot_description_config.toxml()
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robot_description = xacro.process_file(xacro_file).toxml()
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def generate_launch_description():
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rviz_config_file = os.path.join(get_package_share_directory(package_controller), "config", "visualize_ocs2.rviz")
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robot_description = process_xacro()
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robot_controllers = PathJoinSubstitution(
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[
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FindPackageShare(package_description),
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@ -31,6 +26,16 @@ def generate_launch_description():
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]
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)
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rviz_config_file = os.path.join(get_package_share_directory(package_controller), "config", "visualize_ocs2.rviz")
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rviz = Node(
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package='rviz2',
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executable='rviz2',
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name='rviz_ocs2',
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output='screen',
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arguments=["-d", rviz_config_file]
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)
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robot_state_publisher = Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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@ -59,6 +64,9 @@ def generate_launch_description():
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'gait_file': os.path.join(get_package_share_directory(package_description), 'config',
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'ocs2', 'gait.info')
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}],
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remappings=[
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("~/robot_description", "/robot_description"),
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],
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output="both",
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)
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@ -82,15 +90,8 @@ def generate_launch_description():
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arguments=["ocs2_quadruped_controller", "--controller-manager", "/controller_manager"]
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)
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return LaunchDescription([
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Node(
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package='rviz2',
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executable='rviz2',
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name='rviz_ocs2',
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output='screen',
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arguments=["-d", rviz_config_file]
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),
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return [
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rviz,
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robot_state_publisher,
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controller_manager,
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joint_state_publisher,
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@ -106,4 +107,17 @@ def generate_launch_description():
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on_exit=[ocs2_controller],
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)
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),
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]
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def generate_launch_description():
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pkg_description = DeclareLaunchArgument(
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'pkg_description',
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default_value='go2_description',
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description='package for robot description'
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)
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return LaunchDescription([
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pkg_description,
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OpaqueFunction(function=launch_setup),
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])
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@ -5,6 +5,7 @@ found [here](https://github.com/unitreerobotics/unitree_guide). I used KDL for t
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the controller performance has difference with the original one (sometimes very unstable).
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Tested environment:
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* Ubuntu 24.04
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* ROS2 Jazzy
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* Ubuntu 22.04
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@ -27,12 +28,34 @@ Required hardware interfaces:
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* joint position
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* joint velocity
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* imu sensor
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* linear acceleration
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* angular velocity
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* orientation
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* linear acceleration
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* angular velocity
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* orientation
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## 2. Build
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```bash
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cd ~/ros2_ws
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colcon build --packages-up-to unitree_guide_controller
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```
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## 3. Launch
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### 3.1 Mujoco Simulation
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=go2_description
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```
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### 3.2 Gazebo Classic 11 (ROS2 Humble)
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch unitree_guide_controller gazebo_classic.launch.py pkg_description:=go2_description
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```
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### 3.3 Gazebo Harmonic (ROS2 Jazzy)
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=go2_description
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```
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@ -9,12 +9,8 @@ from launch.substitutions import PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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package_description = "go2_description"
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def launch_setup(context, *args, **kwargs):
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package_description = context.launch_configurations['pkg_description']
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pkg_path = os.path.join(get_package_share_directory(package_description))
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@ -113,4 +109,4 @@ def generate_launch_description():
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return LaunchDescription([
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pkg_description,
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OpaqueFunction(function=launch_setup),
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])
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])
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@ -25,7 +25,7 @@ ros2 launch anymal_c_description visualize.launch.py
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* OCS2 Quadruped Controller
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch anymal_c_description ocs2_control.launch.py
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ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=anymal_c_description
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```
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* Legged Gym Controller
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```bash
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@ -1,7 +1,7 @@
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targetDisplacementVelocity 0.5;
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targetRotationVelocity 1.57;
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comHeight 0.565;
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comHeight 0.6;
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defaultJointState
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{
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@ -262,10 +262,10 @@ selfCollision
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; Self Collision pairs
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collisionLinkPairs
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{
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[0] "LF_SHANK, RF_SHANK"
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[1] "LH_SHANK, RH_SHANK"
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[2] "LF_SHANK, LH_SHANK"
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[3] "RF_SHANK, RH_SHANK"
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[0] "LF_shank_fixed, RF_shank_fixed"
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[1] "LH_shank_fixed, RH_shank_fixed"
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[2] "LF_shank_fixed, LH_shank_fixed"
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[3] "RF_shank_fixed, RH_shank_fixed"
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[4] "LF_FOOT, RF_FOOT"
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[5] "LH_FOOT, RH_FOOT"
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[6] "LF_FOOT, LH_FOOT"
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@ -308,7 +308,7 @@ weight
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; State Estimation
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kalmanFilter
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{
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footRadius 0.03
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footRadius 0.015
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imuProcessNoisePosition 0.02
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imuProcessNoiseVelocity 0.02
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footProcessNoisePosition 0.002
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@ -26,7 +26,8 @@ imu_sensor_broadcaster:
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ocs2_quadruped_controller:
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ros__parameters:
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update_rate: 500 # Hz
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default_kd: 1.5
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joints:
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- LF_HAA
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- LF_HFE
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@ -30,7 +30,7 @@ ros2 launch a1_description visualize.launch.py
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* OCS2 Quadruped Controller
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch a1_description ocs2_control.launch.py
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ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=a1_description
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```
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* RL Quadruped Controller
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```bash
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@ -1,109 +0,0 @@
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import os
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import xacro
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import OpaqueFunction, RegisterEventHandler
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from launch.event_handlers import OnProcessExit
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from launch.substitutions import PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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package_description = "a1_description"
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package_controller = "ocs2_quadruped_controller"
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def process_xacro():
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pkg_path = os.path.join(get_package_share_directory(package_description))
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xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro')
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robot_description_config = xacro.process_file(xacro_file)
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return robot_description_config.toxml()
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def generate_launch_description():
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rviz_config_file = os.path.join(get_package_share_directory(package_controller), "config", "visualize_ocs2.rviz")
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robot_description = process_xacro()
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robot_controllers = PathJoinSubstitution(
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[
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FindPackageShare(package_description),
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"config",
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"robot_control.yaml",
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]
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)
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robot_state_publisher = Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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name='robot_state_publisher',
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parameters=[
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{
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'publish_frequency': 20.0,
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'use_tf_static': True,
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'robot_description': robot_description,
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'ignore_timestamp': True
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}
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],
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)
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controller_manager = Node(
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package="controller_manager",
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executable="ros2_control_node",
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parameters=[robot_controllers,
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{
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'urdf_file': os.path.join(get_package_share_directory(package_description), 'urdf',
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'robot.urdf'),
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'task_file': os.path.join(get_package_share_directory(package_description), 'config', 'ocs2',
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'task.info'),
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'reference_file': os.path.join(get_package_share_directory(package_description), 'config',
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'ocs2', 'reference.info'),
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'gait_file': os.path.join(get_package_share_directory(package_description), 'config',
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'ocs2', 'gait.info')
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}],
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output="both",
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)
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joint_state_publisher = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["joint_state_broadcaster",
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"--controller-manager", "/controller_manager"],
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)
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imu_sensor_broadcaster = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["imu_sensor_broadcaster",
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"--controller-manager", "/controller_manager"],
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)
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ocs2_controller = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["ocs2_quadruped_controller", "--controller-manager", "/controller_manager"]
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)
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return LaunchDescription([
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Node(
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package='rviz2',
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executable='rviz2',
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name='rviz_ocs2',
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output='screen',
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arguments=["-d", rviz_config_file]
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),
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robot_state_publisher,
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controller_manager,
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joint_state_publisher,
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RegisterEventHandler(
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event_handler=OnProcessExit(
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target_action=joint_state_publisher,
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on_exit=[imu_sensor_broadcaster],
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)
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),
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RegisterEventHandler(
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event_handler=OnProcessExit(
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target_action=imu_sensor_broadcaster,
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on_exit=[ocs2_controller],
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)
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),
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])
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@ -37,9 +37,9 @@ ros2 launch aliengo_description visualize.launch.py
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* OCS2 Quadruped Controller
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch aliengo_description ocs2_control.launch.py
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ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=aliengo_description
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```
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### Gazebo Simulator
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* Unitree Guide Controller
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|
|
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|
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@ -1,109 +0,0 @@
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import os
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import xacro
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import OpaqueFunction, RegisterEventHandler
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from launch.event_handlers import OnProcessExit
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from launch.substitutions import PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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package_description = "aliengo_description"
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package_controller = "ocs2_quadruped_controller"
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def process_xacro():
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pkg_path = os.path.join(get_package_share_directory(package_description))
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xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro')
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robot_description_config = xacro.process_file(xacro_file)
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return robot_description_config.toxml()
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def generate_launch_description():
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rviz_config_file = os.path.join(get_package_share_directory(package_controller), "config", "visualize_ocs2.rviz")
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robot_description = process_xacro()
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robot_controllers = PathJoinSubstitution(
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[
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FindPackageShare(package_description),
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"config",
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"robot_control.yaml",
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]
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)
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robot_state_publisher = Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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name='robot_state_publisher',
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parameters=[
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{
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'publish_frequency': 20.0,
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'use_tf_static': True,
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'robot_description': robot_description,
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'ignore_timestamp': True
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}
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],
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)
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controller_manager = Node(
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package="controller_manager",
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executable="ros2_control_node",
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parameters=[robot_controllers,
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{
|
||||
'urdf_file': os.path.join(get_package_share_directory(package_description), 'urdf',
|
||||
'robot.urdf'),
|
||||
'task_file': os.path.join(get_package_share_directory(package_description), 'config', 'ocs2',
|
||||
'task.info'),
|
||||
'reference_file': os.path.join(get_package_share_directory(package_description), 'config',
|
||||
'ocs2', 'reference.info'),
|
||||
'gait_file': os.path.join(get_package_share_directory(package_description), 'config',
|
||||
'ocs2', 'gait.info')
|
||||
}],
|
||||
output="both",
|
||||
)
|
||||
|
||||
joint_state_publisher = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["joint_state_broadcaster",
|
||||
"--controller-manager", "/controller_manager"],
|
||||
)
|
||||
|
||||
imu_sensor_broadcaster = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["imu_sensor_broadcaster",
|
||||
"--controller-manager", "/controller_manager"],
|
||||
)
|
||||
|
||||
ocs2_controller = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["ocs2_quadruped_controller", "--controller-manager", "/controller_manager"]
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
Node(
|
||||
package='rviz2',
|
||||
executable='rviz2',
|
||||
name='rviz_ocs2',
|
||||
output='screen',
|
||||
arguments=["-d", rviz_config_file]
|
||||
),
|
||||
|
||||
robot_state_publisher,
|
||||
controller_manager,
|
||||
joint_state_publisher,
|
||||
RegisterEventHandler(
|
||||
event_handler=OnProcessExit(
|
||||
target_action=joint_state_publisher,
|
||||
on_exit=[imu_sensor_broadcaster],
|
||||
)
|
||||
),
|
||||
RegisterEventHandler(
|
||||
event_handler=OnProcessExit(
|
||||
target_action=imu_sensor_broadcaster,
|
||||
on_exit=[ocs2_controller],
|
||||
)
|
||||
),
|
||||
])
|
||||
|
|
@ -32,9 +32,9 @@ ros2 launch b2_description visualize.launch.py
|
|||
* OCS2 Quadruped Controller
|
||||
```bash
|
||||
source ~/ros2_ws/install/setup.bash
|
||||
ros2 launch b2_description ocs2_control.launch.py
|
||||
ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=b2_description
|
||||
```
|
||||
|
||||
|
||||
### Gazebo Simulator
|
||||
|
||||
* Unitree Guide Controller
|
||||
|
|
|
|||
|
|
@ -1,109 +0,0 @@
|
|||
import os
|
||||
|
||||
import xacro
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import OpaqueFunction, RegisterEventHandler
|
||||
from launch.event_handlers import OnProcessExit
|
||||
from launch.substitutions import PathJoinSubstitution
|
||||
from launch_ros.actions import Node
|
||||
from launch_ros.substitutions import FindPackageShare
|
||||
|
||||
package_description = "b2_description"
|
||||
package_controller = "ocs2_quadruped_controller"
|
||||
|
||||
|
||||
def process_xacro():
|
||||
pkg_path = os.path.join(get_package_share_directory(package_description))
|
||||
xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro')
|
||||
robot_description_config = xacro.process_file(xacro_file)
|
||||
return robot_description_config.toxml()
|
||||
|
||||
def generate_launch_description():
|
||||
rviz_config_file = os.path.join(get_package_share_directory(package_controller), "config", "visualize_ocs2.rviz")
|
||||
|
||||
robot_description = process_xacro()
|
||||
robot_controllers = PathJoinSubstitution(
|
||||
[
|
||||
FindPackageShare(package_description),
|
||||
"config",
|
||||
"robot_control.yaml",
|
||||
]
|
||||
)
|
||||
|
||||
robot_state_publisher = Node(
|
||||
package='robot_state_publisher',
|
||||
executable='robot_state_publisher',
|
||||
name='robot_state_publisher',
|
||||
parameters=[
|
||||
{
|
||||
'publish_frequency': 20.0,
|
||||
'use_tf_static': True,
|
||||
'robot_description': robot_description,
|
||||
'ignore_timestamp': True
|
||||
}
|
||||
],
|
||||
)
|
||||
|
||||
controller_manager = Node(
|
||||
package="controller_manager",
|
||||
executable="ros2_control_node",
|
||||
parameters=[robot_controllers,
|
||||
{
|
||||
'urdf_file': os.path.join(get_package_share_directory(package_description), 'urdf',
|
||||
'robot.urdf'),
|
||||
'task_file': os.path.join(get_package_share_directory(package_description), 'config', 'ocs2',
|
||||
'task.info'),
|
||||
'reference_file': os.path.join(get_package_share_directory(package_description), 'config',
|
||||
'ocs2', 'reference.info'),
|
||||
'gait_file': os.path.join(get_package_share_directory(package_description), 'config',
|
||||
'ocs2', 'gait.info')
|
||||
}],
|
||||
output="both",
|
||||
)
|
||||
|
||||
joint_state_publisher = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["joint_state_broadcaster",
|
||||
"--controller-manager", "/controller_manager"],
|
||||
)
|
||||
|
||||
imu_sensor_broadcaster = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["imu_sensor_broadcaster",
|
||||
"--controller-manager", "/controller_manager"],
|
||||
)
|
||||
|
||||
ocs2_controller = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["ocs2_quadruped_controller", "--controller-manager", "/controller_manager"]
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
Node(
|
||||
package='rviz2',
|
||||
executable='rviz2',
|
||||
name='rviz_ocs2',
|
||||
output='screen',
|
||||
arguments=["-d", rviz_config_file]
|
||||
),
|
||||
|
||||
robot_state_publisher,
|
||||
controller_manager,
|
||||
joint_state_publisher,
|
||||
RegisterEventHandler(
|
||||
event_handler=OnProcessExit(
|
||||
target_action=joint_state_publisher,
|
||||
on_exit=[imu_sensor_broadcaster],
|
||||
)
|
||||
),
|
||||
RegisterEventHandler(
|
||||
event_handler=OnProcessExit(
|
||||
target_action=imu_sensor_broadcaster,
|
||||
on_exit=[ocs2_controller],
|
||||
)
|
||||
),
|
||||
])
|
||||
|
|
@ -32,7 +32,7 @@ ros2 launch go1_description visualize.launch.py
|
|||
* OCS2 Quadruped Controller
|
||||
```bash
|
||||
source ~/ros2_ws/install/setup.bash
|
||||
ros2 launch go1_description ocs2_control.launch.py
|
||||
ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=go1_description
|
||||
```
|
||||
|
||||
### Gazebo Simulator
|
||||
|
|
|
|||
|
|
@ -1,109 +0,0 @@
|
|||
import os
|
||||
|
||||
import xacro
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import OpaqueFunction, RegisterEventHandler
|
||||
from launch.event_handlers import OnProcessExit
|
||||
from launch.substitutions import PathJoinSubstitution
|
||||
from launch_ros.actions import Node
|
||||
from launch_ros.substitutions import FindPackageShare
|
||||
|
||||
package_description = "go1_description"
|
||||
package_controller = "ocs2_quadruped_controller"
|
||||
|
||||
|
||||
def process_xacro():
|
||||
pkg_path = os.path.join(get_package_share_directory(package_description))
|
||||
xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro')
|
||||
robot_description_config = xacro.process_file(xacro_file)
|
||||
return robot_description_config.toxml()
|
||||
|
||||
def generate_launch_description():
|
||||
rviz_config_file = os.path.join(get_package_share_directory(package_controller), "config", "visualize_ocs2.rviz")
|
||||
|
||||
robot_description = process_xacro()
|
||||
robot_controllers = PathJoinSubstitution(
|
||||
[
|
||||
FindPackageShare(package_description),
|
||||
"config",
|
||||
"robot_control.yaml",
|
||||
]
|
||||
)
|
||||
|
||||
robot_state_publisher = Node(
|
||||
package='robot_state_publisher',
|
||||
executable='robot_state_publisher',
|
||||
name='robot_state_publisher',
|
||||
parameters=[
|
||||
{
|
||||
'publish_frequency': 20.0,
|
||||
'use_tf_static': True,
|
||||
'robot_description': robot_description,
|
||||
'ignore_timestamp': True
|
||||
}
|
||||
],
|
||||
)
|
||||
|
||||
controller_manager = Node(
|
||||
package="controller_manager",
|
||||
executable="ros2_control_node",
|
||||
parameters=[robot_controllers,
|
||||
{
|
||||
'urdf_file': os.path.join(get_package_share_directory(package_description), 'urdf',
|
||||
'robot.urdf'),
|
||||
'task_file': os.path.join(get_package_share_directory(package_description), 'config', 'ocs2',
|
||||
'task.info'),
|
||||
'reference_file': os.path.join(get_package_share_directory(package_description), 'config',
|
||||
'ocs2', 'reference.info'),
|
||||
'gait_file': os.path.join(get_package_share_directory(package_description), 'config',
|
||||
'ocs2', 'gait.info')
|
||||
}],
|
||||
output="both",
|
||||
)
|
||||
|
||||
joint_state_publisher = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["joint_state_broadcaster",
|
||||
"--controller-manager", "/controller_manager"],
|
||||
)
|
||||
|
||||
imu_sensor_broadcaster = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["imu_sensor_broadcaster",
|
||||
"--controller-manager", "/controller_manager"],
|
||||
)
|
||||
|
||||
ocs2_controller = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["ocs2_quadruped_controller", "--controller-manager", "/controller_manager"]
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
Node(
|
||||
package='rviz2',
|
||||
executable='rviz2',
|
||||
name='rviz_ocs2',
|
||||
output='screen',
|
||||
arguments=["-d", rviz_config_file]
|
||||
),
|
||||
|
||||
robot_state_publisher,
|
||||
controller_manager,
|
||||
joint_state_publisher,
|
||||
RegisterEventHandler(
|
||||
event_handler=OnProcessExit(
|
||||
target_action=joint_state_publisher,
|
||||
on_exit=[imu_sensor_broadcaster],
|
||||
)
|
||||
),
|
||||
RegisterEventHandler(
|
||||
event_handler=OnProcessExit(
|
||||
target_action=imu_sensor_broadcaster,
|
||||
on_exit=[ocs2_controller],
|
||||
)
|
||||
),
|
||||
])
|
||||
|
|
@ -1,115 +0,0 @@
|
|||
import os
|
||||
|
||||
import xacro
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument, OpaqueFunction, IncludeLaunchDescription, RegisterEventHandler
|
||||
from launch.event_handlers import OnProcessExit
|
||||
from launch.substitutions import PathJoinSubstitution
|
||||
from launch_ros.actions import Node
|
||||
from launch_ros.substitutions import FindPackageShare
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
|
||||
package_description = "go2_description"
|
||||
|
||||
|
||||
|
||||
def launch_setup(context, *args, **kwargs):
|
||||
|
||||
package_description = context.launch_configurations['pkg_description']
|
||||
pkg_path = os.path.join(get_package_share_directory(package_description))
|
||||
|
||||
xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro')
|
||||
robot_description = xacro.process_file(xacro_file, mappings={'GAZEBO': 'true', 'CLASSIC': 'true'}).toxml()
|
||||
|
||||
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
|
||||
|
||||
rviz = Node(
|
||||
package='rviz2',
|
||||
executable='rviz2',
|
||||
name='rviz_ocs2',
|
||||
output='screen',
|
||||
arguments=["-d", rviz_config_file]
|
||||
)
|
||||
|
||||
gazebo = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
[PathJoinSubstitution([FindPackageShare("gazebo_ros"), "launch", "gazebo.launch.py"])]
|
||||
),
|
||||
launch_arguments={"verbose": "false"}.items(),
|
||||
)
|
||||
|
||||
spawn_entity = Node(
|
||||
package="gazebo_ros",
|
||||
executable="spawn_entity.py",
|
||||
arguments=["-topic", "robot_description", "-entity", "robot", "-z", "0.5"],
|
||||
output="screen",
|
||||
)
|
||||
|
||||
robot_state_publisher = Node(
|
||||
package='robot_state_publisher',
|
||||
executable='robot_state_publisher',
|
||||
name='robot_state_publisher',
|
||||
parameters=[
|
||||
{
|
||||
'publish_frequency': 20.0,
|
||||
'use_tf_static': True,
|
||||
'robot_description': robot_description,
|
||||
'ignore_timestamp': True
|
||||
}
|
||||
],
|
||||
)
|
||||
|
||||
joint_state_publisher = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["joint_state_broadcaster",
|
||||
"--controller-manager", "/controller_manager"],
|
||||
)
|
||||
|
||||
imu_sensor_broadcaster = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["imu_sensor_broadcaster",
|
||||
"--controller-manager", "/controller_manager"],
|
||||
)
|
||||
|
||||
leg_pd_controller = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["leg_pd_controller",
|
||||
"--controller-manager", "/controller_manager"],
|
||||
)
|
||||
|
||||
unitree_guide_controller = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["unitree_guide_controller", "--controller-manager", "/controller_manager"],
|
||||
)
|
||||
|
||||
return [
|
||||
rviz,
|
||||
robot_state_publisher,
|
||||
gazebo,
|
||||
spawn_entity,
|
||||
leg_pd_controller,
|
||||
RegisterEventHandler(
|
||||
event_handler=OnProcessExit(
|
||||
target_action=leg_pd_controller,
|
||||
on_exit=[imu_sensor_broadcaster, joint_state_publisher, unitree_guide_controller],
|
||||
)
|
||||
),
|
||||
]
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
pkg_description = DeclareLaunchArgument(
|
||||
'pkg_description',
|
||||
default_value='go2_description',
|
||||
description='package for robot description'
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
pkg_description,
|
||||
OpaqueFunction(function=launch_setup),
|
||||
])
|
||||
|
|
@ -1,109 +0,0 @@
|
|||
import os
|
||||
|
||||
import xacro
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import OpaqueFunction, RegisterEventHandler
|
||||
from launch.event_handlers import OnProcessExit
|
||||
from launch.substitutions import PathJoinSubstitution
|
||||
from launch_ros.actions import Node
|
||||
from launch_ros.substitutions import FindPackageShare
|
||||
|
||||
package_description = "go2_description"
|
||||
package_controller = "ocs2_quadruped_controller"
|
||||
|
||||
|
||||
def process_xacro():
|
||||
pkg_path = os.path.join(get_package_share_directory(package_description))
|
||||
xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro')
|
||||
robot_description_config = xacro.process_file(xacro_file)
|
||||
return robot_description_config.toxml()
|
||||
|
||||
def generate_launch_description():
|
||||
rviz_config_file = os.path.join(get_package_share_directory(package_controller), "config", "visualize_ocs2.rviz")
|
||||
|
||||
robot_description = process_xacro()
|
||||
robot_controllers = PathJoinSubstitution(
|
||||
[
|
||||
FindPackageShare(package_description),
|
||||
"config",
|
||||
"robot_control.yaml",
|
||||
]
|
||||
)
|
||||
|
||||
robot_state_publisher = Node(
|
||||
package='robot_state_publisher',
|
||||
executable='robot_state_publisher',
|
||||
name='robot_state_publisher',
|
||||
parameters=[
|
||||
{
|
||||
'publish_frequency': 20.0,
|
||||
'use_tf_static': True,
|
||||
'robot_description': robot_description,
|
||||
'ignore_timestamp': True
|
||||
}
|
||||
],
|
||||
)
|
||||
|
||||
controller_manager = Node(
|
||||
package="controller_manager",
|
||||
executable="ros2_control_node",
|
||||
parameters=[robot_controllers,
|
||||
{
|
||||
'urdf_file': os.path.join(get_package_share_directory(package_description), 'urdf',
|
||||
'robot.urdf'),
|
||||
'task_file': os.path.join(get_package_share_directory(package_description), 'config', 'ocs2',
|
||||
'task.info'),
|
||||
'reference_file': os.path.join(get_package_share_directory(package_description), 'config',
|
||||
'ocs2', 'reference.info'),
|
||||
'gait_file': os.path.join(get_package_share_directory(package_description), 'config',
|
||||
'ocs2', 'gait.info')
|
||||
}],
|
||||
output="both",
|
||||
)
|
||||
|
||||
joint_state_publisher = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["joint_state_broadcaster",
|
||||
"--controller-manager", "/controller_manager"],
|
||||
)
|
||||
|
||||
imu_sensor_broadcaster = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["imu_sensor_broadcaster",
|
||||
"--controller-manager", "/controller_manager"],
|
||||
)
|
||||
|
||||
ocs2_controller = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["ocs2_quadruped_controller", "--controller-manager", "/controller_manager"]
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
Node(
|
||||
package='rviz2',
|
||||
executable='rviz2',
|
||||
name='rviz_ocs2',
|
||||
output='screen',
|
||||
arguments=["-d", rviz_config_file]
|
||||
),
|
||||
|
||||
robot_state_publisher,
|
||||
controller_manager,
|
||||
joint_state_publisher,
|
||||
RegisterEventHandler(
|
||||
event_handler=OnProcessExit(
|
||||
target_action=joint_state_publisher,
|
||||
on_exit=[imu_sensor_broadcaster],
|
||||
)
|
||||
),
|
||||
RegisterEventHandler(
|
||||
event_handler=OnProcessExit(
|
||||
target_action=imu_sensor_broadcaster,
|
||||
on_exit=[ocs2_controller],
|
||||
)
|
||||
),
|
||||
])
|
||||
|
|
@ -33,7 +33,7 @@ ros2 launch cyberdog_description visualize.launch.py
|
|||
* OCS2 Quadruped Controller
|
||||
```bash
|
||||
source ~/ros2_ws/install/setup.bash
|
||||
ros2 launch cyberdog_description ocs2_control.launch.py
|
||||
ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=cyberdog_description
|
||||
```
|
||||
|
||||
### Gazebo Simulator
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
targetDisplacementVelocity 0.4;
|
||||
targetRotationVelocity 1.57;
|
||||
|
||||
comHeight 0.3
|
||||
comHeight 0.28;
|
||||
|
||||
defaultJointState
|
||||
{
|
||||
|
|
|
|||
|
|
@ -19,7 +19,7 @@ swing_trajectory_config
|
|||
{
|
||||
liftOffVelocity 0.05
|
||||
touchDownVelocity -0.1
|
||||
swingHeight 0.1
|
||||
swingHeight 0.08
|
||||
swingTimeScale 0.15
|
||||
}
|
||||
|
||||
|
|
@ -283,9 +283,9 @@ selfCollision
|
|||
; Whole body control
|
||||
torqueLimitsTask
|
||||
{
|
||||
(0,0) 33.5 ; HAA
|
||||
(1,0) 33.5 ; HFE
|
||||
(2,0) 33.5 ; KFE
|
||||
(0,0) 12.0 ; HAA
|
||||
(1,0) 12.0 ; HFE
|
||||
(2,0) 12.0 ; KFE
|
||||
}
|
||||
|
||||
frictionConeTask
|
||||
|
|
|
|||
|
|
@ -1,109 +0,0 @@
|
|||
import os
|
||||
|
||||
import xacro
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import OpaqueFunction, RegisterEventHandler
|
||||
from launch.event_handlers import OnProcessExit
|
||||
from launch.substitutions import PathJoinSubstitution
|
||||
from launch_ros.actions import Node
|
||||
from launch_ros.substitutions import FindPackageShare
|
||||
|
||||
package_description = "cyberdog_description"
|
||||
package_controller = "ocs2_quadruped_controller"
|
||||
|
||||
|
||||
def process_xacro():
|
||||
pkg_path = os.path.join(get_package_share_directory(package_description))
|
||||
xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro')
|
||||
robot_description_config = xacro.process_file(xacro_file)
|
||||
return robot_description_config.toxml()
|
||||
|
||||
def generate_launch_description():
|
||||
rviz_config_file = os.path.join(get_package_share_directory(package_controller), "config", "visualize_ocs2.rviz")
|
||||
|
||||
robot_description = process_xacro()
|
||||
robot_controllers = PathJoinSubstitution(
|
||||
[
|
||||
FindPackageShare(package_description),
|
||||
"config",
|
||||
"robot_control.yaml",
|
||||
]
|
||||
)
|
||||
|
||||
robot_state_publisher = Node(
|
||||
package='robot_state_publisher',
|
||||
executable='robot_state_publisher',
|
||||
name='robot_state_publisher',
|
||||
parameters=[
|
||||
{
|
||||
'publish_frequency': 20.0,
|
||||
'use_tf_static': True,
|
||||
'robot_description': robot_description,
|
||||
'ignore_timestamp': True
|
||||
}
|
||||
],
|
||||
)
|
||||
|
||||
controller_manager = Node(
|
||||
package="controller_manager",
|
||||
executable="ros2_control_node",
|
||||
parameters=[robot_controllers,
|
||||
{
|
||||
'urdf_file': os.path.join(get_package_share_directory(package_description), 'urdf',
|
||||
'robot.urdf'),
|
||||
'task_file': os.path.join(get_package_share_directory(package_description), 'config', 'ocs2',
|
||||
'task.info'),
|
||||
'reference_file': os.path.join(get_package_share_directory(package_description), 'config',
|
||||
'ocs2', 'reference.info'),
|
||||
'gait_file': os.path.join(get_package_share_directory(package_description), 'config',
|
||||
'ocs2', 'gait.info')
|
||||
}],
|
||||
output="both",
|
||||
)
|
||||
|
||||
joint_state_publisher = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["joint_state_broadcaster",
|
||||
"--controller-manager", "/controller_manager"],
|
||||
)
|
||||
|
||||
imu_sensor_broadcaster = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["imu_sensor_broadcaster",
|
||||
"--controller-manager", "/controller_manager"],
|
||||
)
|
||||
|
||||
ocs2_controller = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["ocs2_quadruped_controller", "--controller-manager", "/controller_manager"]
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
Node(
|
||||
package='rviz2',
|
||||
executable='rviz2',
|
||||
name='rviz_ocs2',
|
||||
output='screen',
|
||||
arguments=["-d", rviz_config_file]
|
||||
),
|
||||
|
||||
robot_state_publisher,
|
||||
controller_manager,
|
||||
joint_state_publisher,
|
||||
RegisterEventHandler(
|
||||
event_handler=OnProcessExit(
|
||||
target_action=joint_state_publisher,
|
||||
on_exit=[imu_sensor_broadcaster],
|
||||
)
|
||||
),
|
||||
RegisterEventHandler(
|
||||
event_handler=OnProcessExit(
|
||||
target_action=imu_sensor_broadcaster,
|
||||
on_exit=[ocs2_controller],
|
||||
)
|
||||
),
|
||||
])
|
||||
Loading…
Reference in New Issue