History

Zhenbiao Huang 4575779eb5 fix leg controller in jazzy, simplified gazebo launch file		2024-10-20 12:42:34 +08:00
..
include/unitree_guide_controller	used share_ptr rather than reference in CtrlComponent	2024-10-10 20:31:03 +08:00
launch	fix leg controller in jazzy, simplified gazebo launch file	2024-10-20 12:42:34 +08:00
src	add estimator	2024-10-15 22:40:15 +08:00
CMakeLists.txt	add support for gazebo classic simulator	2024-10-17 21:45:48 +08:00
README.md	ocs2 launch file refact	2024-10-18 11:47:31 +08:00
package.xml	init swing test	2024-09-12 13:56:51 +08:00
unitree_guide_controller.xml	achieved passive mode on unitree simulation	2024-09-10 22:30:30 +08:00

README.md

Unitree Guide Controller

This is a ros2-control controller based on unitree guide. The original unitree guide project could be found here. I used KDL for the kinematic and dynamic calculation, so the controller performance has difference with the original one (sometimes very unstable).

Tested environment:

Ubuntu 24.04
- ROS2 Jazzy
Ubuntu 22.04
- ROS2 Humble

1. Interfaces

Required hardware interfaces:

command:
- joint position
- joint velocity
- joint effort
- KP
- KD
state:
- joint effort
- joint position
- joint velocity
- imu sensor
  - linear acceleration
  - angular velocity
  - orientation

2. Build

cd ~/ros2_ws
colcon build --packages-up-to unitree_guide_controller

3. Launch

3.1 Mujoco Simulation

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)

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)

source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=go2_description