236 lines
4.3 KiB
YAML
236 lines
4.3 KiB
YAML
# Controller Manager configuration
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controller_manager:
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ros__parameters:
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update_rate: 1000 # Hz
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# Define the available controllers
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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imu_sensor_broadcaster:
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type: imu_sensor_broadcaster/IMUSensorBroadcaster
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unitree_guide_controller:
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type: unitree_guide_controller/UnitreeGuideController
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ocs2_quadruped_controller:
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type: ocs2_quadruped_controller/Ocs2QuadrupedController
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rl_quadruped_controller:
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type: rl_quadruped_controller/LeggedGymController
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imu_sensor_broadcaster:
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ros__parameters:
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sensor_name: "imu_sensor"
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frame_id: "imu_link"
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unitree_guide_controller:
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ros__parameters:
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update_rate: 200 # Hz
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down_pos:
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- -0.01
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- 1.27
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- -2.8
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- 0.01
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- 1.27
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- -2.8
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- -0.3
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- 1.31
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- -2.8
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- 0.3
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- 1.31
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- -2.8
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joints:
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- FR_hip_joint
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- FR_thigh_joint
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- FR_calf_joint
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- FL_hip_joint
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- FL_thigh_joint
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- FL_calf_joint
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- RR_hip_joint
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- RR_thigh_joint
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- RR_calf_joint
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- RL_hip_joint
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- RL_thigh_joint
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- RL_calf_joint
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command_interfaces:
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- effort
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- position
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- velocity
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- kp
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- kd
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state_interfaces:
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- effort
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- position
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- velocity
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feet_names:
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- FR_foot
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- FL_foot
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- RR_foot
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- RL_foot
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imu_name: "imu_sensor"
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base_name: "base"
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imu_interfaces:
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- orientation.w
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- orientation.x
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- orientation.y
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- orientation.z
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- angular_velocity.x
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- angular_velocity.y
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- angular_velocity.z
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- linear_acceleration.x
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- linear_acceleration.y
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- linear_acceleration.z
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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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robot_pkg: "go2_description"
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feet_force_threshold: 20.0
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# default_kd: 3.5
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joints:
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- FL_hip_joint
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- FL_thigh_joint
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- FL_calf_joint
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- FR_hip_joint
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- FR_thigh_joint
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- FR_calf_joint
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- RL_hip_joint
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- RL_thigh_joint
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- RL_calf_joint
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- RR_hip_joint
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- RR_thigh_joint
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- RR_calf_joint
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command_interfaces:
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- effort
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- position
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- velocity
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- kp
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- kd
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state_interfaces:
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- effort
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- position
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- velocity
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feet:
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- FL_foot
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- FR_foot
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- RL_foot
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- RR_foot
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imu_name: "imu_sensor"
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base_name: "base"
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imu_interfaces:
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- orientation.w
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- orientation.x
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- orientation.y
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- orientation.z
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- angular_velocity.x
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- angular_velocity.y
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- angular_velocity.z
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- linear_acceleration.x
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- linear_acceleration.y
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- linear_acceleration.z
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foot_force_name: "foot_force"
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foot_force_interfaces:
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- FL
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- RL
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- FR
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- RR
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rl_quadruped_controller:
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ros__parameters:
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update_rate: 200 # Hz
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robot_pkg: "go2_description"
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# use_rl_thread: false
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model_folder: "himloco"
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joints:
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- FL_hip_joint
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- FL_thigh_joint
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- FL_calf_joint
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- FR_hip_joint
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- FR_thigh_joint
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- FR_calf_joint
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- RL_hip_joint
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- RL_thigh_joint
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- RL_calf_joint
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- RR_hip_joint
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- RR_thigh_joint
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- RR_calf_joint
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stand_pos:
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- 0.1000
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- 0.8000
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- -1.5000
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- -0.1000
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- 0.8000
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- -1.5000
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- 0.1000
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- 0.8000
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- -1.5000
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- -0.1000
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- 0.8000
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- -1.5000
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down_pos:
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- 0.01
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- 1.27
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- -2.8
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- -0.01
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- 1.27
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- -2.8
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- 0.3
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- 1.31
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- -2.8
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- -0.3
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- 1.31
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- -2.8
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command_interfaces:
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- effort
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- position
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- velocity
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- kp
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- kd
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state_interfaces:
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- effort
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- position
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- velocity
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feet_names:
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- FL_foot
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- FR_foot
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- RL_foot
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- RR_foot
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foot_force_name: "foot_force"
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foot_force_interfaces:
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- FL
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- FR
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- RL
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- RR
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imu_name: "imu_sensor"
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base_name: "base"
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imu_interfaces:
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- orientation.w
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- orientation.x
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- orientation.y
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- orientation.z
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- angular_velocity.x
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- angular_velocity.y
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- angular_velocity.z
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- linear_acceleration.x
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- linear_acceleration.y
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- linear_acceleration.z |