56 lines
2.8 KiB
Markdown
56 lines
2.8 KiB
Markdown
# Quadruped ROS2 Control
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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] [Mujoco Simulation](hardwares/hardware_unitree_mujoco)
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- [x] [Unitree Guide Controller](controllers/unitree_guide_controller)
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- [x] [Gazebo Simulation](descriptions/quadruped_gazebo)
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- [x] [Leg PD Controller](controllers/leg_pd_controller)
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- [x] [Contact Sensor Simulation](https://github.com/legubiao/unitree_mujoco)
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- [x] [OCS2 Quadruped Control](controllers/ocs2_quadruped_controller)
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- [ ] Learning-based Controller
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Video for Unitree Guide Controller:
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[](https://www.bilibili.com/video/BV1aJbAeZEuo/)
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Video for OCS2 Quadruped Controller:
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[](https://www.bilibili.com/video/BV1UcxieuEmH/)
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## 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 hardware_unitree_mujoco
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```
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* Launch the unitree mujoco go2 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 go2_description unitree_guide.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/) and [go2 description](descriptions/unitree/go2_description/).
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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 duality-based optimization." In *2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)*, pp. 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, 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](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 robots*. [Online]. Available: [https://github.com/qiayuanl/legged_control](https://github.com/qiayuanl/legged_control) |