144 lines
5.3 KiB
Markdown
144 lines
5.3 KiB
Markdown
# Quadruped ROS2 Control
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**ROS2 Humble Branch**
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This repository contains the ros2-control based controllers for the quadruped robot.
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* [Controllers](controllers): contains the ros2-control controllers
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* [Commands](commands): contains command node used to send command to the controller
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* [Descriptions](descriptions): contains the urdf model of the robot
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* [Hardwares](hardwares): contains the ros2-control hardware interface for the robot
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Todo List:
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- [x] **[2025-02-23]** Add Gazebo Playground
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- [x] OCS2 controller for Gazebo Simulation
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- [x] Refactor FSM and Unitree Guide Controller
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- [x] **[2025-03-30]** Add Real Go2 Robot Support
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- [ ] OCS2 Perceptive locomotion demo
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Video on Real Unitree Go2 Robot:
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[](https://www.bilibili.com/video/BV1QpZaY8EYV/)
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## 1. Quick Start
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* rosdep
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```bash
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cd ~/ros2_ws
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rosdep install --from-paths src --ignore-src -r -y
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```
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* Compile the package
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```bash
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colcon build --packages-up-to unitree_guide_controller go2_description keyboard_input --symlink-install
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```
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### 1.1 Mujoco Simulator or Real Unitree Robot
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> **Warning:** CycloneDDS ROS2 RMW may conflict with unitree_sdk2. If you cannot launch unitree mujoco simulation
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> without `sudo`, then you cannot used `unitree_mujoco_hardware`. This conflict could be solved by one of below two
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> methods:
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> 1. Uninstall CycloneDDS ROS2 RMW, used another ROS2 RMW, such as FastDDS **[Recommended]**.
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> 2. Follow the guide in [unitree_ros2](https://github.com/unitreerobotics/unitree_ros2) to configure the ROS2 RMW by
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compiling cyclone dds.
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* Compile Unitree Hardware Interfaces
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```bash
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cd ~/ros2_ws
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colcon build --packages-up-to hardware_unitree_mujoco
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```
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* Follow the guide in [unitree_mujoco](https://github.com/legubiao/unitree_mujoco) to launch the unitree mujoco go2
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simulation
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* Launch the ros2-control
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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
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```
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* Run the keyboard control node
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 run keyboard_input keyboard_input
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```
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### 1.2 Gazebo Classic Simulator (ROS2 Humble)
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* Install Gazebo Classic
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```bash
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sudo apt-get install ros-humble-gazebo-ros ros-humble-gazebo-ros2-control
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```
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* Compile Leg PD Controller
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```bash
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colcon build --packages-up-to leg_pd_controller
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```
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* Launch the ros2-control
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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
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```
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* Run the keyboard control node
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 run keyboard_input keyboard_input
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```
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### 1.3 Gazebo Harmonic Simulator (ROS2 Jazzy)
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* Install Gazebo
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```bash
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sudo apt-get install ros-jazzy-ros-gz
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```
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* Compile Gazebo Playground
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```bash
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colcon build --packages-up-to gz_quadruped_playground --symlink-install
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```
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* Launch the ros2-control
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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
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```
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* Run the keyboard control node
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 run keyboard_input keyboard_input
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```
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For more details, please refer to the [unitree guide controller](controllers/unitree_guide_controller/)
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and [go2 description](descriptions/unitree/go2_description/).
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## What's Next
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Congratulations! You have successfully launched the quadruped robot in the simulation. Here are some suggestions for you to have a try:
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* **More Robot Models** could be found at [description](descriptions/)
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* **Try more controllers**.
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* [OCS2 Quadruped Controller](controllers/ocs2_quadruped_controller): Robust MPC-based controller for quadruped robot
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* [RL Quadruped Controller](controllers/rl_quadruped_controller): Reinforcement learning controller for quadruped robot
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* **Simulate with more sensors**
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* [Gazebo Quadruped Playground](libraries/gz_quadruped_playground): Provide gazebo simulation with lidar or depth camera.
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* **Real Robot Deploy**
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* [Unitree Go2 Robot](descriptions/unitree/go2_description): Check here about how to deploy on go2 robot.
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## Reference
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### Conference Paper
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[1] Liao, Qiayuan, et al. "Walking in narrow spaces: Safety-critical locomotion control for quadrupedal robots with
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duality-based optimization." In *2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)*, pp.
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2723-2730. IEEE, 2023.
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### Miscellaneous
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[1] Unitree Robotics. *unitree\_guide: An open source project for controlling the quadruped robot of Unitree Robotics,
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and it is also the software project accompanying 《四足机器人控制算法--建模、控制与实践》 published by Unitree
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Robotics*. [Online].
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Available: [https://github.com/unitreerobotics/unitree_guide](https://github.com/unitreerobotics/unitree_guide)
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[2] Qiayuan Liao. *legged\_control: An open-source NMPC, WBC, state estimation, and sim2real framework for legged
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robots*. [Online]. Available: [https://github.com/qiayuanl/legged_control](https://github.com/qiayuanl/legged_control)
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[3] Ziqi Fan. *rl\_sar: Simulation Verification and Physical Deployment of Robot Reinforcement Learning Algorithm.*
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2024. Available: [https://github.com/fan-ziqi/rl_sar](https://github.com/fan-ziqi/rl_sar) |