History

Zhenbiao Huang 6015ae749c update README.md		2024-11-06 20:07:48 +08:00
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include/unitree_guide_controller	add pos parameter for unitree guide controller	2024-10-21 12:43:17 +08:00
launch	add more support for gazebo classic simulationn	2024-10-24 15:05:26 +08:00
src	rl controller enhanced	2024-10-21 21:47:25 +08:00
CMakeLists.txt	add support for gazebo classic simulator	2024-10-17 21:45:48 +08:00
README.md	update README.md	2024-11-06 20:07:48 +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

Warm Reminder: You need to launch Unitree Mujoco C++ Simulation before launch the controller.

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