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quadruped_ros2_control
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ocs2 launch file refact

This commit is contained in:
Huang Zhenbiao 2024-10-18 11:47:31 +08:00
parent 316d333278
commit fe28277003
23 changed files with 115 additions and 851 deletions
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2
controllers/ocs2_quadruped_controller/CMakeLists.txt
View File

@ -81,7 +81,7 @@ install(
) )
install( install(
DIRECTORY config DIRECTORY config launch
DESTINATION share/${PROJECT_NAME}/ DESTINATION share/${PROJECT_NAME}/
) )

33
controllers/ocs2_quadruped_controller/README.md
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@ -4,6 +4,7 @@ This is a ros2-control controller based on [legged_control](https://github.com/q
and [ocs2_ros2](https://github.com/legubiao/ocs2_ros2). and [ocs2_ros2](https://github.com/legubiao/ocs2_ros2).
Tested environment: Tested environment:
* Ubuntu 24.04 * Ubuntu 24.04
* ROS2 Jazzy * ROS2 Jazzy
@ -47,23 +48,21 @@ colcon build --packages-up-to ocs2_quadruped_controller
``` ```
## 3. Launch ## 3. Launch
* Unitree Go1 Robot
supported robot description:
* Unitree
* go2_description
* go1_description
* a1_description
* aliengo_description
* b2_description
* Xiaomi
* cyberdog_description
### 3.1 Mujoco Simulation
```bash ```bash
source ~/ros2_ws/install/setup.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:=go2_description
```
* Unitree Aliengo Robot
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch aliengo_description ocs2_control.launch.py
```
* Unitree Go2 Robot
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch go2_description ocs2_control.launch.py
```
* Unitree B2 Robot
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch b2_description ocs2_control.launch.py
``` ```

52
descriptions/anybotics/anymal_c_description/launch/ocs2_control.launch.py → controllers/ocs2_quadruped_controller/launch/mujoco.launch.py
View File

@ -3,26 +3,21 @@ import os
import xacro import xacro
from ament_index_python.packages import get_package_share_directory from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription from launch import LaunchDescription
from launch.actions import OpaqueFunction, RegisterEventHandler from launch.actions import DeclareLaunchArgument, OpaqueFunction, IncludeLaunchDescription, RegisterEventHandler
from launch.event_handlers import OnProcessExit from launch.event_handlers import OnProcessExit
from launch.substitutions import PathJoinSubstitution from launch.substitutions import PathJoinSubstitution
from launch_ros.actions import Node from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare from launch_ros.substitutions import FindPackageShare
package_description = "anymal_c_description"
package_controller = "ocs2_quadruped_controller" package_controller = "ocs2_quadruped_controller"
def launch_setup(context, *args, **kwargs):
def process_xacro(): package_description = context.launch_configurations['pkg_description']
pkg_path = os.path.join(get_package_share_directory(package_description)) pkg_path = os.path.join(get_package_share_directory(package_description))
xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro') xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro')
robot_description_config = xacro.process_file(xacro_file) robot_description = xacro.process_file(xacro_file).toxml()
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( robot_controllers = PathJoinSubstitution(
[ [
FindPackageShare(package_description), FindPackageShare(package_description),
@ -31,6 +26,16 @@ def generate_launch_description():
] ]
) )
rviz_config_file = os.path.join(get_package_share_directory(package_controller), "config", "visualize_ocs2.rviz")
rviz = Node(
package='rviz2',
executable='rviz2',
name='rviz_ocs2',
output='screen',
arguments=["-d", rviz_config_file]
)
robot_state_publisher = Node( robot_state_publisher = Node(
package='robot_state_publisher', package='robot_state_publisher',
executable='robot_state_publisher', executable='robot_state_publisher',
@ -59,6 +64,9 @@ def generate_launch_description():
'gait_file': os.path.join(get_package_share_directory(package_description), 'config', 'gait_file': os.path.join(get_package_share_directory(package_description), 'config',
'ocs2', 'gait.info') 'ocs2', 'gait.info')
}], }],
remappings=[
("~/robot_description", "/robot_description"),
],
output="both", output="both",
) )
@ -82,15 +90,8 @@ def generate_launch_description():
arguments=["ocs2_quadruped_controller", "--controller-manager", "/controller_manager"] arguments=["ocs2_quadruped_controller", "--controller-manager", "/controller_manager"]
) )
return LaunchDescription([ return [
Node( rviz,
package='rviz2',
executable='rviz2',
name='rviz_ocs2',
output='screen',
arguments=["-d", rviz_config_file]
),
robot_state_publisher, robot_state_publisher,
controller_manager, controller_manager,
joint_state_publisher, joint_state_publisher,
@ -106,4 +107,17 @@ def generate_launch_description():
on_exit=[ocs2_controller], on_exit=[ocs2_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),
]) ])

23
controllers/unitree_guide_controller/README.md
View File

@ -5,6 +5,7 @@ found [here](https://github.com/unitreerobotics/unitree_guide). I used KDL for t
the controller performance has difference with the original one (sometimes very unstable). the controller performance has difference with the original one (sometimes very unstable).
Tested environment: Tested environment:
* Ubuntu 24.04 * Ubuntu 24.04
* ROS2 Jazzy * ROS2 Jazzy
* Ubuntu 22.04 * Ubuntu 22.04
@ -32,7 +33,29 @@ Required hardware interfaces:
* orientation * orientation
## 2. Build ## 2. Build
```bash ```bash
cd ~/ros2_ws cd ~/ros2_ws
colcon build --packages-up-to unitree_guide_controller colcon build --packages-up-to unitree_guide_controller
``` ```
## 3. Launch
### 3.1 Mujoco Simulation
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=go2_description
```
### 3.2 Gazebo Classic 11 (ROS2 Humble)
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo_classic.launch.py pkg_description:=go2_description
```
### 3.3 Gazebo Harmonic (ROS2 Jazzy)
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=go2_description
```

4
controllers/unitree_guide_controller/launch/mujoco.launch.py
View File

@ -9,12 +9,8 @@ from launch.substitutions import PathJoinSubstitution
from launch_ros.actions import Node from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare from launch_ros.substitutions import FindPackageShare
package_description = "go2_description"
def launch_setup(context, *args, **kwargs): def launch_setup(context, *args, **kwargs):
package_description = context.launch_configurations['pkg_description'] package_description = context.launch_configurations['pkg_description']
pkg_path = os.path.join(get_package_share_directory(package_description)) pkg_path = os.path.join(get_package_share_directory(package_description))

2
descriptions/anybotics/anymal_c_description/README.md
View File

@ -25,7 +25,7 @@ ros2 launch anymal_c_description visualize.launch.py
* OCS2 Quadruped Controller * OCS2 Quadruped Controller
```bash ```bash
source ~/ros2_ws/install/setup.bash source ~/ros2_ws/install/setup.bash
ros2 launch anymal_c_description ocs2_control.launch.py ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=anymal_c_description
``` ```
* Legged Gym Controller * Legged Gym Controller
```bash ```bash

2
descriptions/anybotics/anymal_c_description/config/ocs2/reference.info
View File

@ -1,7 +1,7 @@
targetDisplacementVelocity 0.5; targetDisplacementVelocity 0.5;
targetRotationVelocity 1.57; targetRotationVelocity 1.57;
comHeight 0.565; comHeight 0.6;
defaultJointState defaultJointState
{ {

10
descriptions/anybotics/anymal_c_description/config/ocs2/task.info
View File

@ -262,10 +262,10 @@ selfCollision
; Self Collision pairs ; Self Collision pairs
collisionLinkPairs collisionLinkPairs
{ {
[0] "LF_SHANK, RF_SHANK" [0] "LF_shank_fixed, RF_shank_fixed"
[1] "LH_SHANK, RH_SHANK" [1] "LH_shank_fixed, RH_shank_fixed"
[2] "LF_SHANK, LH_SHANK" [2] "LF_shank_fixed, LH_shank_fixed"
[3] "RF_SHANK, RH_SHANK" [3] "RF_shank_fixed, RH_shank_fixed"
[4] "LF_FOOT, RF_FOOT" [4] "LF_FOOT, RF_FOOT"
[5] "LH_FOOT, RH_FOOT" [5] "LH_FOOT, RH_FOOT"
[6] "LF_FOOT, LH_FOOT" [6] "LF_FOOT, LH_FOOT"
@ -308,7 +308,7 @@ weight
; State Estimation ; State Estimation
kalmanFilter kalmanFilter
{ {
footRadius 0.03 footRadius 0.015
imuProcessNoisePosition 0.02 imuProcessNoisePosition 0.02
imuProcessNoiseVelocity 0.02 imuProcessNoiseVelocity 0.02
footProcessNoisePosition 0.002 footProcessNoisePosition 0.002

3
descriptions/anybotics/anymal_c_description/config/robot_control.yaml
View File

@ -26,7 +26,8 @@ imu_sensor_broadcaster:
ocs2_quadruped_controller: ocs2_quadruped_controller:
ros__parameters: ros__parameters:
update_rate: 500 # Hz
default_kd: 1.5
joints: joints:
- LF_HAA - LF_HAA
- LF_HFE - LF_HFE

2
descriptions/unitree/a1_description/README.md
View File

@ -30,7 +30,7 @@ ros2 launch a1_description visualize.launch.py
* OCS2 Quadruped Controller * OCS2 Quadruped Controller
```bash ```bash
source ~/ros2_ws/install/setup.bash source ~/ros2_ws/install/setup.bash
ros2 launch a1_description ocs2_control.launch.py ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=a1_description
``` ```
* RL Quadruped Controller * RL Quadruped Controller
```bash ```bash

109
descriptions/unitree/a1_description/launch/ocs2_control.launch.py
View File

@ -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 = "a1_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],
)
),
])

2
descriptions/unitree/aliengo_description/README.md
View File

@ -37,7 +37,7 @@ ros2 launch aliengo_description visualize.launch.py
* OCS2 Quadruped Controller * OCS2 Quadruped Controller
```bash ```bash
source ~/ros2_ws/install/setup.bash source ~/ros2_ws/install/setup.bash
ros2 launch aliengo_description ocs2_control.launch.py ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=aliengo_description
``` ```
### Gazebo Simulator ### Gazebo Simulator

109
descriptions/unitree/aliengo_description/launch/ocs2_control.launch.py
View File

@ -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 = "aliengo_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],
)
),
])

2
descriptions/unitree/b2_description/README.md
View File

@ -32,7 +32,7 @@ ros2 launch b2_description visualize.launch.py
* OCS2 Quadruped Controller * OCS2 Quadruped Controller
```bash ```bash
source ~/ros2_ws/install/setup.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 ### Gazebo Simulator

109
descriptions/unitree/b2_description/launch/ocs2_control.launch.py
View File

@ -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],
)
),
])

2
descriptions/unitree/go1_description/README.md
View File

@ -32,7 +32,7 @@ ros2 launch go1_description visualize.launch.py
* OCS2 Quadruped Controller * OCS2 Quadruped Controller
```bash ```bash
source ~/ros2_ws/install/setup.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 ### Gazebo Simulator

109
descriptions/unitree/go1_description/launch/ocs2_control.launch.py
View File

@ -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],
)
),
])

115
descriptions/unitree/go2_description/launch/gazebo_classic.launch.py
View File

@ -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),
])

109
descriptions/unitree/go2_description/launch/ocs2_control.launch.py
View File

@ -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],
)
),
])

2
descriptions/xiaomi/cyberdog_description/README.md
View File

@ -33,7 +33,7 @@ ros2 launch cyberdog_description visualize.launch.py
* OCS2 Quadruped Controller * OCS2 Quadruped Controller
```bash ```bash
source ~/ros2_ws/install/setup.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 ### Gazebo Simulator

2
descriptions/xiaomi/cyberdog_description/config/ocs2/reference.info
View File

@ -1,7 +1,7 @@
targetDisplacementVelocity 0.4; targetDisplacementVelocity 0.4;
targetRotationVelocity 1.57; targetRotationVelocity 1.57;
comHeight 0.3 comHeight 0.28;
defaultJointState defaultJointState
{ {

8
descriptions/xiaomi/cyberdog_description/config/ocs2/task.info
View File

@ -19,7 +19,7 @@ swing_trajectory_config
{ {
liftOffVelocity 0.05 liftOffVelocity 0.05
touchDownVelocity -0.1 touchDownVelocity -0.1
swingHeight 0.1 swingHeight 0.08
swingTimeScale 0.15 swingTimeScale 0.15
} }
@ -283,9 +283,9 @@ selfCollision
; Whole body control ; Whole body control
torqueLimitsTask torqueLimitsTask
{ {
(0,0) 33.5 ; HAA (0,0) 12.0 ; HAA
(1,0) 33.5 ; HFE (1,0) 12.0 ; HFE
(2,0) 33.5 ; KFE (2,0) 12.0 ; KFE
} }
frictionConeTask frictionConeTask

109
descriptions/xiaomi/cyberdog_description/launch/ocs2_control.launch.py
View File

@ -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],
)
),
])