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quadruped_ros2_control
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quadruped_ros2_control/controllers/unitree_guide_controller
History
Zhenbiao Huang b76e70427a modified LICENSE and reference 2024-10-03 19:26:54 +08:00
..
include/unitree_guide_controller better fsm switch logic for unitree controller 2024-09-29 20:27:02 +08:00
src achieved basic control on go2 and aliengo 2024-09-30 15:10:08 +08:00
CMakeLists.txt fix go1 gazebo visualization 2024-09-20 15:29:44 +08:00
README.md modified folder structure 2024-10-01 13:48:49 +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. Run