165 lines
3.0 KiB
YAML
165 lines
3.0 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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update_rate: 200
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ocs2_quadruped_controller:
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ros__parameters:
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update_rate: 200 # Hz
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robot_pkg: "lite3_description"
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default_kd: 2.0
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joints:
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- FL_HipX
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- FL_HipY
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- FL_Knee
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- FR_HipX
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- FR_HipY
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- FR_Knee
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- HL_HipX
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- HL_HipY
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- HL_Knee
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- HR_HipX
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- HR_HipY
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- HR_Knee
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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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- HL_FOOT
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- HR_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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# estimator_type: "odom"
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foot_force_name: "foot_force"
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foot_force_interfaces:
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- FL_foot_force
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- HL_foot_force
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- FR_foot_force
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- HR_foot_force
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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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# stand_kp: 30.0
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stand_kd: 1.0
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joints:
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- FR_HipX
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- FR_HipY
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- FR_Knee
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- FL_HipX
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- FL_HipY
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- FL_Knee
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- HR_HipX
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- HR_HipY
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- HR_Knee
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- HL_HipX
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- HL_HipY
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- HL_Knee
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down_pos:
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- 0.0
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- -1.22
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- 2.61
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- 0.0
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- -1.22
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- 2.61
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- 0.0
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- -1.22
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- 2.61
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- 0.0
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- -1.22
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- 2.61
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stand_pos:
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- 0.0
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- -0.732
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- 1.361
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- 0.0
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- -0.732
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- 1.361
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- 0.0
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- -0.732
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- 1.361
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- 0.0
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- -0.732
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- 1.361
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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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- HR_FOOT
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- HL_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 |