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add joystick support of cpp simulation

This commit is contained in:
yangning wu 2024-05-23 11:30:21 +08:00
parent 4746f6bc33
commit b92ec16962
11 changed files with 763 additions and 7 deletions
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12
readme.md
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@ -97,6 +97,12 @@ Refer to: https://github.com/unitreerobotics/unitree_sdk2_python
```bash
pip3 install mujoco
```
#### joystick
```bash
pip3 install pygame
```
### 2. Test
```bash
cd ./simulate_python
@ -123,6 +129,12 @@ robot: "go2"
robot_scene: "scene.xml"
# DDS domain id, it is recommended to distinguish from the real robot (default is 0 on the real robot)
domain_id: 1
use_joystick: 1 # Simulate Unitree WirelessController using a gamepad
joystick_type: "xbox" # support "xbox" and "switch" gamepad layout
joystick_device: "/dev/input/js0" # Device path
joystick_bits: 16 # Some game controllers may only have 8-bit accuracy
# Network interface name, for simulation, it is recommended to use the local loopback "lo"
interface: "lo"
# Whether to output robot link, joint, sensor information, 1 for output

4
readme_zh.md
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@ -103,6 +103,10 @@ Could not locate cyclonedds. Try to set CYCLONEDDS_HOME or CMAKE_PREFIX_PATH
```bash
pip3 install mujoco
```
#### joystick
```bash
pip3 install pygame
```
### 2. 测试
```bash
cd ./simulate_python

2
simulate/CMakeLists.txt
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@ -10,6 +10,7 @@ include_directories(/usr/local/include/ddscxx /usr/local/include/iceoryx/v2.0.2)
link_libraries(unitree_sdk2 ddsc ddscxx rt pthread)
FILE (GLOB SIM_SRC
src/joystick/joystick.cc
src/mujoco/*.cc
src/unitree_sdk2_bridge/*.cc)
@ -24,5 +25,6 @@ add_executable(unitree_mujoco ${SIM_SRC} src/main.cc)
target_link_libraries(unitree_mujoco ${SIM_DEPENDENCIES})
add_executable(test test/test_unitree_sdk2.cpp)
add_executable(jstest src/joystick/jstest.cc src/joystick/joystick.cc)
SET(CMAKE_BUILD_TYPE Release)

7
simulate/config.yaml
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@ -4,6 +4,11 @@ robot_scene: "scene.xml" # Robot scene
domain_id: 1 # Domain id
interface: "lo" # Interface
use_joystick: 1 # Simulate Unitree WirelessController using a gamepad
joystick_type: "xbox" # support "xbox" and "switch" gamepad layout
joystick_device: "/dev/input/js0" # Device path
joystick_bits: 16 # Some game controllers may only have 8-bit accuracy
print_scene_information: 1 # Print link, joint and sensors information of robot
enable_elastic_band: 0 # Virtual spring band, used for lifting h1
enable_elastic_band: 0 # Virtual spring band, used for lifting h1

202
simulate/src/joystick/LICENSE-2.0.txt Normal file
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@ -0,0 +1,202 @@
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88
simulate/src/joystick/joystick.cc Executable file
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@ -0,0 +1,88 @@
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Copyright Drew Noakes 2013-2016
#include "joystick.h"
Joystick::Joystick()
{
openPath("/dev/input/js0");
}
Joystick::Joystick(int joystickNumber)
{
std::stringstream sstm;
sstm << "/dev/input/js" << joystickNumber;
openPath(sstm.str());
}
Joystick::Joystick(std::string devicePath)
{
openPath(devicePath);
}
Joystick::Joystick(std::string devicePath, bool blocking)
{
openPath(devicePath, blocking);
}
void Joystick::openPath(std::string devicePath, bool blocking)
{
// Open the device using either blocking or non-blocking
_fd = open(devicePath.c_str(), blocking ? O_RDONLY : O_RDONLY | O_NONBLOCK);
}
bool Joystick::sample(JoystickEvent *event)
{
int bytes = read(_fd, event, sizeof(*event));
if (bytes == -1)
return false;
// NOTE if this condition is not met, we're probably out of sync and this
// Joystick instance is likely unusable
return bytes == sizeof(*event);
}
bool Joystick::isFound()
{
return _fd >= 0;
}
void Joystick::getState()
{
if (sample(&event_))
{
if (event_.isButton())
{
button_[event_.number] = event_.value;
}
else if (event_.isAxis())
{
axis_[event_.number] = event_.value;
}
}
}
Joystick::~Joystick()
{
close(_fd);
}
std::ostream &operator<<(std::ostream &os, const JoystickEvent &e)
{
os << "type=" << static_cast<int>(e.type)
<< " number=" << static_cast<int>(e.number)
<< " value=" << static_cast<int>(e.value);
return os;
}

164
simulate/src/joystick/joystick.h Executable file
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@ -0,0 +1,164 @@
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Copyright Drew Noakes 2013-2016
#ifndef __JOYSTICK_H__
#define __JOYSTICK_H__
#include <iostream>
#include <string>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <sstream>
#include <map>
#include "unistd.h"
#define JS_EVENT_BUTTON 0x01 // button pressed/released
#define JS_EVENT_AXIS 0x02 // joystick moved
#define JS_EVENT_INIT 0x80 // initial state of device
class JoystickEvent
{
public:
/** Minimum value of axes range */
static const short MIN_AXES_VALUE = -32768;
/** Maximum value of axes range */
static const short MAX_AXES_VALUE = 32767;
/**
* The timestamp of the event, in milliseconds.
*/
unsigned int time;
/**
* The value associated with this joystick event.
* For buttons this will be either 1 (down) or 0 (up).
* For axes, this will range between MIN_AXES_VALUE and MAX_AXES_VALUE.
*/
short value;
/**
* The event type.
*/
unsigned char type;
/**
* The axis/button number.
*/
unsigned char number;
/**
* Returns true if this event is the result of a button press.
*/
bool isButton()
{
return (type & JS_EVENT_BUTTON) != 0;
}
/**
* Returns true if this event is the result of an axis movement.
*/
bool isAxis()
{
return (type & JS_EVENT_AXIS) != 0;
}
/**
* Returns true if this event is part of the initial state obtained when
* the joystick is first connected to.
*/
bool isInitialState()
{
return (type & JS_EVENT_INIT) != 0;
}
/**
* The ostream inserter needs to be a friend so it can access the
* internal data structures.
*/
friend std::ostream &operator<<(std::ostream &os, const JoystickEvent &e);
};
/**
* Stream insertion function so you can do this:
* cout << event << endl;
*/
std::ostream &operator<<(std::ostream &os, const JoystickEvent &e);
/**
* Represents a joystick device. Allows data to be sampled from it.
*/
class Joystick
{
private:
void openPath(std::string devicePath, bool blocking = false);
int _fd;
public:
~Joystick();
/**
* Initialises an instance for the first joystick: /dev/input/js0
*/
Joystick();
/**
* Initialises an instance for the joystick with the specified,
* zero-indexed number.
*/
Joystick(int joystickNumber);
/**
* Initialises an instance for the joystick device specified.
*/
Joystick(std::string devicePath);
/**
* Joystick objects cannot be copied
*/
Joystick(Joystick const &) = delete;
/**
* Joystick objects can be moved
*/
Joystick(Joystick &&) = default;
/**
* Initialises an instance for the joystick device specified and provide
* the option of blocking I/O.
*/
Joystick(std::string devicePath, bool blocking);
/**
* Returns true if the joystick was found and may be used, otherwise false.
*/
bool isFound();
/**
* Attempts to populate the provided JoystickEvent instance with data
* from the joystick. Returns true if data is available, otherwise false.
*/
void getState();
JoystickEvent event_;
int button_[20] = {0};
int axis_[10] = {0};
bool sample(JoystickEvent *event);
};
#endif

101
simulate/src/joystick/jstest.cc Executable file
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@ -0,0 +1,101 @@
#include <unistd.h>
#include <iostream>
#include <map>
#include "joystick.h"
#define GAMEPAD_TYPE 1 // 1: XBOX, 0: SWITCH
#define MAX_AXES_VALUE 32768
#define MIN_AXES_VALUE -32768
using namespace std;
typedef union
{
struct
{
uint8_t R1 : 1;
uint8_t L1 : 1;
uint8_t start : 1;
uint8_t select : 1;
uint8_t R2 : 1;
uint8_t L2 : 1;
uint8_t F1 : 1;
uint8_t F2 : 1;
uint8_t A : 1;
uint8_t B : 1;
uint8_t X : 1;
uint8_t Y : 1;
uint8_t up : 1;
uint8_t right : 1;
uint8_t down : 1;
uint8_t left : 1;
} components;
uint16_t value;
} xKeySwitchUnion;
int main(int argc, char **argv)
{
// Create an instance of Joystick
Joystick joystick("/dev/input/js0");
// Ensure that it was found and that we can use it
if (!joystick.isFound())
{
printf("open failed.\n");
exit(1);
}
xKeySwitchUnion unitree_key;
map<string, int> AxisId =
{
{"LX", 0}, // Left stick axis x
{"LY", 1}, // Left stick axis y
{"RX", 3}, // Right stick axis x
{"RY", 4}, // Right stick axis y
{"LT", 2}, // Left trigger
{"RT", 5}, // Right trigger
{"DX", 6}, // Directional pad x
{"DY", 7}, // Directional pad y
};
map<string, int> ButtonId =
{
{"X", 2},
{"Y", 3},
{"B", 1},
{"A", 0},
{"LB", 4},
{"RB", 5},
{"SELECT", 6},
{"START", 7},
};
while (true)
{
// Attempt to sample an event from the joystick
joystick.getState();
unitree_key.components.R1 = joystick.button_[ButtonId["RB"]];
unitree_key.components.L1 = joystick.button_[ButtonId["LB"]];
unitree_key.components.start = joystick.button_[ButtonId["START"]];
unitree_key.components.select = joystick.button_[ButtonId["SELECT"]];
unitree_key.components.R2 = (joystick.axis_[AxisId["RT"]] > 0);
unitree_key.components.L2 = (joystick.axis_[AxisId["LT"]] > 0);
unitree_key.components.F1 = 0;
unitree_key.components.F2 = 0;
unitree_key.components.A = joystick.button_[ButtonId["A"]];
unitree_key.components.B = joystick.button_[ButtonId["B"]];
unitree_key.components.X = joystick.button_[ButtonId["X"]];
unitree_key.components.Y = joystick.button_[ButtonId["Y"]];
unitree_key.components.up = (joystick.axis_[AxisId["DY"]] < 0);
unitree_key.components.right = (joystick.axis_[AxisId["DX"]] > 0);
unitree_key.components.down = (joystick.axis_[AxisId["DY"]] > 0);
unitree_key.components.left = (joystick.axis_[AxisId["DX"]] < 0);
cout << unitree_key.value << endl;
// Restrict rate
usleep(10000);
}
return 0;
};

19
simulate/src/main.cc
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@ -72,6 +72,11 @@ namespace
int domain_id = 1;
std::string interface = "lo";
int use_joystick = 0;
std::string joystick_type = "xbox";
std::string joystick_device = "/dev/input/js0";
int joystick_bits = 16;
int print_scene_information = 1;
int enable_elastic_band = 0;
@ -559,7 +564,8 @@ void *UnitreeSdk2BridgeThread(void *arg)
}
usleep(500000);
}
if (config.robot=="h1")
if (config.robot == "h1")
{
config.band_attached_link = 6 * mj_name2id(m, mjOBJ_BODY, "torso_link");
}
@ -567,9 +573,15 @@ void *UnitreeSdk2BridgeThread(void *arg)
{
config.band_attached_link = 6 * mj_name2id(m, mjOBJ_BODY, "base_link");
}
ChannelFactory::Instance()->Init(config.domain_id, config.interface);
UnitreeSdk2Bridge unitree_interface(m, d);
if (config.use_joystick == 1)
{
unitree_interface.SetupJoystick(config.joystick_device, config.joystick_type, config.joystick_bits);
}
if (config.print_scene_information == 1)
{
unitree_interface.PrintSceneInformation();
@ -636,6 +648,11 @@ int main(int argc, char **argv)
config.interface = yaml_node["interface"].as<std::string>();
config.print_scene_information = yaml_node["print_scene_information"].as<int>();
config.enable_elastic_band = yaml_node["enable_elastic_band"].as<int>();
config.use_joystick = yaml_node["use_joystick"].as<int>();
config.joystick_type = yaml_node["joystick_type"].as<std::string>();
config.joystick_device = yaml_node["joystick_device"].as<std::string>();
config.joystick_bits = yaml_node["joystick_bits"].as<int>();
sim->use_elastic_band_ = config.enable_elastic_band;
yaml_node.~Node();

104
simulate/src/unitree_sdk2_bridge/unitree_sdk2_bridge.cc
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@ -8,16 +8,23 @@ UnitreeSdk2Bridge::UnitreeSdk2Bridge(mjModel *model, mjData *data) : mj_model_(m
high_state_puber_.reset(new ChannelPublisher<unitree_go::msg::dds_::SportModeState_>(TOPIC_HIGHSTATE));
high_state_puber_->InitChannel();
wireless_controller_puber_.reset(new ChannelPublisher<unitree_go::msg::dds_::WirelessController_>(TOPIC_WIRELESS_CONTROLLER));
wireless_controller_puber_->InitChannel();
low_cmd_suber_.reset(new ChannelSubscriber<unitree_go::msg::dds_::LowCmd_>(TOPIC_LOWCMD));
low_cmd_suber_->InitChannel(bind(&UnitreeSdk2Bridge::LowCmdHandler, this, placeholders::_1), 1);
lowStatePuberThreadPtr = CreateRecurrentThreadEx("lowstate", UT_CPU_ID_NONE, 2000, &UnitreeSdk2Bridge::PublishLowState, this);
HighStatePuberThreadPtr = CreateRecurrentThreadEx("highstate", UT_CPU_ID_NONE, 2000, &UnitreeSdk2Bridge::PublishHighState, this);
WirelessControllerPuberThreadPtr = CreateRecurrentThreadEx("wirelesscontroller", UT_CPU_ID_NONE, 2000, &UnitreeSdk2Bridge::PublishWirelessController, this);
CheckSensor();
}
UnitreeSdk2Bridge::~UnitreeSdk2Bridge(){};
UnitreeSdk2Bridge::~UnitreeSdk2Bridge()
{
delete js_;
}
void UnitreeSdk2Bridge::LowCmdHandler(const void *msg)
{
@ -79,7 +86,39 @@ void UnitreeSdk2Bridge::PublishHighState()
high_state_puber_->Write(high_state);
}
};
}
void UnitreeSdk2Bridge::PublishWirelessController()
{
if (js_)
{
js_->getState();
dds_keys_.components.R1 = js_->button_[js_id_.button["RB"]];
dds_keys_.components.L1 = js_->button_[js_id_.button["LB"]];
dds_keys_.components.start = js_->button_[js_id_.button["START"]];
dds_keys_.components.select = js_->button_[js_id_.button["SELECT"]];
dds_keys_.components.R2 = (js_->axis_[js_id_.axis["RT"]] > 0);
dds_keys_.components.L2 = (js_->axis_[js_id_.axis["LT"]] > 0);
dds_keys_.components.F1 = 0;
dds_keys_.components.F2 = 0;
dds_keys_.components.A = js_->button_[js_id_.button["A"]];
dds_keys_.components.B = js_->button_[js_id_.button["B"]];
dds_keys_.components.X = js_->button_[js_id_.button["X"]];
dds_keys_.components.Y = js_->button_[js_id_.button["Y"]];
dds_keys_.components.up = (js_->axis_[js_id_.axis["DY"]] < 0);
dds_keys_.components.right = (js_->axis_[js_id_.axis["DX"]] > 0);
dds_keys_.components.down = (js_->axis_[js_id_.axis["DY"]] > 0);
dds_keys_.components.left = (js_->axis_[js_id_.axis["DX"]] < 0);
wireless_controller.lx() = double(js_->axis_[js_id_.axis["LX"]]) / max_value_;
wireless_controller.ly() = -double(js_->axis_[js_id_.axis["LY"]]) / max_value_;
wireless_controller.rx() = double(js_->axis_[js_id_.axis["RX"]]) / max_value_;
wireless_controller.ry() = -double(js_->axis_[js_id_.axis["RY"]]) / max_value_;
wireless_controller.keys() = dds_keys_.value;
wireless_controller_puber_->Write(wireless_controller);
}
}
void UnitreeSdk2Bridge::Run()
{
@ -87,7 +126,64 @@ void UnitreeSdk2Bridge::Run()
{
sleep(2);
}
};
}
void UnitreeSdk2Bridge::SetupJoystick(string device, string js_type, int bits)
{
js_ = new Joystick(device);
if (!js_->isFound())
{
cout << "Error: Joystick open failed." << endl;
exit(1);
}
max_value_ = (1 << (bits - 1));
if (js_type == "xbox")
{
js_id_.axis["LX"] = 0; // Left stick axis x
js_id_.axis["LY"] = 1; // Left stick axis y
js_id_.axis["RX"] = 3; // Right stick axis x
js_id_.axis["RY"] = 4; // Right stick axis y
js_id_.axis["LT"] = 2; // Left trigger
js_id_.axis["RT"] = 5; // Right trigger
js_id_.axis["DX"] = 6; // Directional pad x
js_id_.axis["DY"] = 7; // Directional pad y
js_id_.button["X"] = 2;
js_id_.button["Y"] = 3;
js_id_.button["B"] = 1;
js_id_.button["A"] = 0;
js_id_.button["LB"] = 4;
js_id_.button["RB"] = 5;
js_id_.button["SELECT"] = 6;
js_id_.button["START"] = 7;
}
else if (js_type == "switch")
{
js_id_.axis["LX"] = 0; // Left stick axis x
js_id_.axis["LY"] = 1; // Left stick axis y
js_id_.axis["RX"] = 2; // Right stick axis x
js_id_.axis["RY"] = 3; // Right stick axis y
js_id_.axis["LT"] = 5; // Left trigger
js_id_.axis["RT"] = 4; // Right trigger
js_id_.axis["DX"] = 6; // Directional pad x
js_id_.axis["DY"] = 7; // Directional pad y
js_id_.button["X"] = 3;
js_id_.button["Y"] = 4;
js_id_.button["B"] = 1;
js_id_.button["A"] = 0;
js_id_.button["LB"] = 6;
js_id_.button["RB"] = 7;
js_id_.button["SELECT"] = 10;
js_id_.button["START"] = 11;
}
else
{
cout << "Unsupported gamepad." << endl;
}
}
void UnitreeSdk2Bridge::PrintSceneInformation()
{
@ -148,7 +244,7 @@ void UnitreeSdk2Bridge::PrintSceneInformation()
index = index + mj_model_->sensor_dim[i];
}
cout << endl;
};
}
void UnitreeSdk2Bridge::CheckSensor()
{

67
simulate/src/unitree_sdk2_bridge/unitree_sdk2_bridge.h
View File

@ -10,8 +10,9 @@
#include <unitree/idl/go2/SportModeState_.hpp>
#include <unitree/idl/go2/LowState_.hpp>
#include <unitree/idl/go2/LowCmd_.hpp>
#include <unitree/idl/go2/WirelessController_.hpp>
#include <mujoco/mujoco.h>
#include "../joystick/joystick.h"
using namespace unitree::common;
using namespace unitree::robot;
@ -20,8 +21,62 @@ using namespace std;
#define TOPIC_LOWSTATE "rt/lowstate"
#define TOPIC_HIGHSTATE "rt/sportmodestate"
#define TOPIC_LOWCMD "rt/lowcmd"
#define TOPIC_WIRELESS_CONTROLLER "rt/wirelesscontroller"
#define MOTOR_SENSOR_NUM 3
typedef union
{
struct
{
uint8_t R1 : 1;
uint8_t L1 : 1;
uint8_t start : 1;
uint8_t select : 1;
uint8_t R2 : 1;
uint8_t L2 : 1;
uint8_t F1 : 1;
uint8_t F2 : 1;
uint8_t A : 1;
uint8_t B : 1;
uint8_t X : 1;
uint8_t Y : 1;
uint8_t up : 1;
uint8_t right : 1;
uint8_t down : 1;
uint8_t left : 1;
} components;
uint16_t value;
} xKeySwitchUnion;
// Defaults to xbox gamepad
struct JoystickId
{
map<string, int> axis =
{
{"LX", 0}, // Left stick axis x
{"LY", 1}, // Left stick axis y
{"RX", 3}, // Right stick axis x
{"RY", 4}, // Right stick axis y
{"LT", 2}, // Left trigger
{"RT", 5}, // Right trigger
{"DX", 6}, // Directional pad x
{"DY", 7}, // Directional pad y
};
map<string, int> button =
{
{"X", 2},
{"Y", 3},
{"B", 1},
{"A", 0},
{"LB", 4},
{"RB", 5},
{"SELECT", 6},
{"START", 7},
};
};
class UnitreeSdk2Bridge
{
public:
@ -31,20 +86,30 @@ public:
void LowCmdHandler(const void *msg);
void PublishLowState();
void PublishHighState();
void PublishWirelessController();
void Run();
void PrintSceneInformation();
void CheckSensor();
void SetupJoystick(string device, string js_type, int bits);
unitree_go::msg::dds_::LowState_ low_state{};
unitree_go::msg::dds_::SportModeState_ high_state{};
unitree_go::msg::dds_::WirelessController_ wireless_controller{};
ChannelPublisherPtr<unitree_go::msg::dds_::LowState_> low_state_puber_;
ChannelPublisherPtr<unitree_go::msg::dds_::SportModeState_> high_state_puber_;
ChannelPublisherPtr<unitree_go::msg::dds_::WirelessController_> wireless_controller_puber_;
ChannelSubscriberPtr<unitree_go::msg::dds_::LowCmd_> low_cmd_suber_;
ThreadPtr lowStatePuberThreadPtr;
ThreadPtr HighStatePuberThreadPtr;
ThreadPtr WirelessControllerPuberThreadPtr;
xKeySwitchUnion dds_keys_;
JoystickId js_id_;
Joystick *js_;
int max_value_ = (1 << 15); // 16 bits joystick
mjData *mj_data_;
mjModel *mj_model_;