Quadruped ROS2 Control

This repository contains the ros2-control based controllers for the quadruped robot.

• Controllers: contains the ros2-control controllers
• Commands: contains command node used to send command to the controller
• Descriptions: contains the urdf model of the robot
• Hardwares: contains the ros2-control hardware interface for the robot

Todo List:

• Mujoco Simulation
• Unitree Guide Controller
• Gazebo Simulation
• Leg PD Controller
• Contact Sensor Simulation
• OCS2 Quadruped Control
• Learning-based Controller

Video for Unitree Guide Controller:

Video for OCS2 Quadruped Controller:

Quick Start

• rosdep

cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y

• Compile the package

colcon build --packages-up-to unitree_guide_controller go2_description keyboard_input hardware_unitree_mujoco

• Launch the unitree mujoco go2 simulation
• Launch the ros2-control

source ~/ros2_ws/install/setup.bash
ros2 launch go2_description unitree_guide.launch.py

• Run the keyboard control node

source ~/ros2_ws/install/setup.bash
ros2 run keyboard_input keyboard_input

For more details, please refer to the unitree guide controller and go2 description.

Reference

Conference Paper

[1] Liao, Qiayuan, et al. "Walking in narrow spaces: Safety-critical locomotion control for quadrupedal robots with duality-based optimization." In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2723-2730. IEEE, 2023.

Miscellaneous

[1] Unitree Robotics. unitree_guide: An open source project for controlling the quadruped robot of Unitree Robotics, 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 Robotics. [Online]. Available: https://github.com/unitreerobotics/unitree_guide

[2] Qiayuan Liao. legged_control: An open-source NMPC, WBC, state estimation, and sim2real framework for legged robots. [Online]. Available: https://github.com/qiayuanl/legged_control