combined some packages
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Bian Zekun
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README.md
36
README.md
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@ -1,5 +1,5 @@
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# Introduction
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Here are the ROS packages of Unitree robots, namely Laikago, Aliengo and A1. You can load robots and joint controllers in Gazebo. And we also offered a basic standing controller and a tool to generate external force. Besides of these simulation functions, you can also control your real robots in ROS by the `unitree_legged_real`.
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Here are the ROS packages of Unitree robots, namely Laikago, Aliengo and A1. You can load robots and joint controllers in Gazebo. And we also offered a basic standing controller, a position and pose publisher and a tool to generate external force. Besides of these simulation functions, you can also control your real robots in ROS by the `unitree_legged_real`.
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## Packages:
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Robot description: `a1_description`, `aliengo_description`, `laikago_description`
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@ -8,12 +8,10 @@ Robot and joints controller: `unitree_controller`
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Basic function: `unitree_legged_msgs`
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Simulation related: `unitree_gazebo`, `unitree_worlds`, `unitree_legged_control`
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Simulation related: `unitree_gazebo`, `unitree_legged_control`
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Real robot control related: `unitree_legged_real`
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Some examples: `unitree_example`
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# Dependencies
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* [ROS](https://www.ros.org/) melodic or ROS kinetic(has not been tested)
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* [Gazebo8](http://gazebosim.org/)
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@ -45,10 +43,10 @@ Else if your ROS is kinetic:
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sudo apt-get install ros-kinetic-controller-manager ros-kinetic-ros-control ros-kinetic-ros-controllers ros-kinetic-joint-state-controller ros-kinetic-effort-controllers ros-kinetic-velocity-controllers ros-kinetic-position-controllers ros-kinetic-robot-controllers ros-kinetic-robot-state-publisher ros-kinetic-gazebo8-ros ros-kinetic-gazebo8-ros-control ros-kinetic-gazebo8-ros-pkgs ros-kinetic-gazebo8-ros-dev
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```
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And open the file `worlds/stairs.world`. At the end of the file:
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And open the file `unitree_gazebo/worlds/stairs.world`. At the end of the file:
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```
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<include>
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<uri>model:///home/unitree/catkin_ws/src/unitree/worlds/building_editor_models/stairs</uri>
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<uri>model:///home/unitree/catkin_ws/src/unitree_ros/unitree_gazebo/worlds/building_editor_models/stairs</uri>
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</include>
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```
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Please change the path of `building_editor_models/stairs` to the real path on your PC.
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@ -82,7 +80,8 @@ roslaunch unitree_gazebo normal.launch rname:=a1 wname:=stairs
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```
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Where the `rname` means robot name, which can be `laikago`, `aliengo` or `a1`. The `wname` means world name, which can be `earth`, `space` or `stairs`. And the default value of `rname` is `laikago`, while the default value of `wname` is `earth`. In Gazebo, the robot should be lying on the ground with joints not activated.
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Then you can start to control the robot:
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### Stand controller
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After launching the gazebo simulation, you can start to control the robot:
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```
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rosrun unitree_controller unitree_servo
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```
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@ -91,6 +90,15 @@ And you can add external disturbances, like a push or a kick:
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```
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rosrun unitree_controller unitree_external_force
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```
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### Position and pose publisher
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Here we showed how to control the position and pose of robot without a controller, which should be useful in SLAM or visual development.
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Then run the position and pose publisher in another terminal:
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```
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rosrun unitree_controller unitree_move_kinetic
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```
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The robot will turn around the origin, which is the movement under the world coordinate. And inside of the source file `move_publisher`, we also offered the method to move robot under robot coordinate. You can change the value of `def_frame` to `coord::ROBOT` and run the catkin_make again, then the `unitree_move_publisher` will move robot under its own coordinate.
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## unitree_legged_real
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You can control your real robot(only A1 and Aliengo) from ROS by this package.
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@ -113,17 +121,3 @@ torque_lcm
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The `velocity_lcm` and `torque_lcm` have to run under root account too. Please use the same method as runing `real_launch`.
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And when you run the high level controller, please make sure the robot is standing on the ground. The high level only has `walk_lcm`.
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## unitree_examples:
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### laikago_move:
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In this package, we showed how to control the position and pose of robot without a controller, which should be useful in SLAM or visual development.
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First launch a gazobe simulation of Laikago:
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```
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roslaunch unitree_gazebo normal.launch
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```
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Then run the position and pose publisher in another terminal:
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```
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rosrun unitree_examples laikago_move
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```
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The Laikago will turn around the origin.
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@ -1,21 +0,0 @@
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cmake_minimum_required(VERSION 2.8.3)
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project(unitree_examples)
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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std_msgs
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)
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find_package(gazebo REQUIRED)
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catkin_package(
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CATKIN_DEPENDS
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)
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include_directories(
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${catkin_INCLUDE_DIRS}
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${GAZEBO_INCLUDE_DIRS}
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)
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add_executable(laikago_move src/move_publisher.cpp)
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target_link_libraries(laikago_move ${catkin_LIBRARIES})
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@ -1,42 +0,0 @@
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<launch>
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<arg name="paused" default="true"/>
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<arg name="use_sim_time" default="true"/>
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<arg name="gui" default="true"/>
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<arg name="headless" default="false"/>
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<arg name="debug" default="false"/>
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<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
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<arg name="user_debug" default="false"/>
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(find unitree_worlds)/earth.world"/>
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<arg name="debug" value="$(arg debug)"/>
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<arg name="gui" value="$(arg gui)"/>
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<arg name="paused" value="$(arg paused)"/>
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<arg name="use_sim_time" value="$(arg use_sim_time)"/>
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<arg name="headless" value="$(arg headless)"/>
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</include>
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<!-- Load the URDF into the ROS Parameter Server -->
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<param name="robot_description"
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command="$(find xacro)/xacro --inorder '$(find laikago_description)/xacro/robot.xacro'
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DEBUG:=$(arg user_debug)"/>
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<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
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<!-- Set trunk and joint positions at startup -->
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<node pkg="gazebo_ros" type="spawn_model" name="urdf_spawner" respawn="false" output="screen"
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args="-urdf -z 0.6 -model laikago_gazebo -param robot_description -unpause"/>
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<!-- Load joint controller configurations from YAML file to parameter server -->
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<rosparam file="$(find laikago_description)/config/robot_control.yaml" command="load"/>
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<!-- load the controllers -->
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<node pkg="controller_manager" type="spawner" name="controller_spawner" respawn="false"
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output="screen" ns="/laikago_gazebo" args="joint_state_controller
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FL_hip_controller FL_thigh_controller FL_calf_controller
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FR_hip_controller FR_thigh_controller FR_calf_controller
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RL_hip_controller RL_thigh_controller RL_calf_controller
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RR_hip_controller RR_thigh_controller RR_calf_controller "/>
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</launch>
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<?xml version="1.0"?>
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<package format="2">
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<name>unitree_examples</name>
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<version>0.0.1</version>
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<description>The examples package</description>
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<maintainer email="laikago@unitree.cc">unitree</maintainer>
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<license>TODO</license>
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>roscpp</build_depend>
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<build_depend>std_msgs</build_depend>
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<build_export_depend>roscpp</build_export_depend>
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<build_export_depend>std_msgs</build_export_depend>
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<exec_depend>roscpp</exec_depend>
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<exec_depend>std_msgs</exec_depend>
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</package>
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#include <ros/ros.h>
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#include <gazebo_msgs/ModelState.h>
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#include <gazebo_msgs/SetModelState.h>
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#include <string.h>
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#include <stdio.h>
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#include <tf/transform_datatypes.h>
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// #include <std_msgs/Float64.h>
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#include <math.h>
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int main(int argc, char **argv)
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{
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ros::init(argc, argv, "move_publisher");
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ros::NodeHandle nh;
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ros::Publisher move_publisher = nh.advertise<gazebo_msgs::ModelState>("/gazebo/set_model_state", 1000);
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gazebo_msgs::ModelState model_state_pub;
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model_state_pub.model_name = "laikago_gazebo";
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model_state_pub.pose.position.x = 0.0;
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model_state_pub.pose.position.y = 0.0;
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model_state_pub.pose.position.z = 0.5;
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model_state_pub.pose.orientation.x = 0.0;
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model_state_pub.pose.orientation.y = 0.0;
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model_state_pub.pose.orientation.z = 0.0;
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model_state_pub.pose.orientation.w = 1.0;
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// model_state_pub.twist.linear.x= 0.02; //0.02: 2cm/sec
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// model_state_pub.twist.linear.y= 0.0;
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// model_state_pub.twist.linear.z= 0.08;
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// model_state_pub.twist.angular.x= 0.0;
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// model_state_pub.twist.angular.y= 0.0;
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// model_state_pub.twist.angular.z= 0.0;
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model_state_pub.reference_frame = "world";
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// model_state_pub.reference_frame = "base";
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long long time_ms = 0; //time, ms
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const double period = 5000; //ms
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const double radius = 1.5; //m
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tf::Quaternion q;
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ros::Rate loop_rate(1000);
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while(ros::ok())
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{
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model_state_pub.pose.position.x = radius * sin(2*M_PI*(double)time_ms/period);
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model_state_pub.pose.position.y = radius * cos(2*M_PI*(double)time_ms/period);
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model_state_pub.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(0, 0, - 2*M_PI*(double)time_ms/period);
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move_publisher.publish(model_state_pub);
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loop_rate.sleep();
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time_ms += 1;
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}
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}
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@ -54,4 +54,5 @@ target_link_libraries(unitree_external_force ${catkin_LIBRARIES})
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add_executable(unitree_servo src/servo.cpp)
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target_link_libraries(unitree_servo ${PROJECT_NAME} ${catkin_LIBRARIES})
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add_executable(unitree_move_kinetic src/move_publisher.cpp)
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target_link_libraries(unitree_move_kinetic ${catkin_LIBRARIES})
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@ -0,0 +1,80 @@
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#include <ros/ros.h>
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#include <gazebo_msgs/ModelState.h>
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#include <gazebo_msgs/SetModelState.h>
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#include <string>
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#include <stdio.h>
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#include <tf/transform_datatypes.h>
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// #include <std_msgs/Float64.h>
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#include <math.h>
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#include <iostream>
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int main(int argc, char **argv)
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{
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enum coord
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{
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WORLD,
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ROBOT
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};
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coord def_frame = coord::WORLD;
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ros::init(argc, argv, "move_publisher");
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ros::NodeHandle nh;
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ros::Publisher move_publisher = nh.advertise<gazebo_msgs::ModelState>("/gazebo/set_model_state", 1000);
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gazebo_msgs::ModelState model_state_pub;
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std::string robot_name;
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ros::param::get("/robot_name", robot_name);
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std::cout << "robot_name: " << robot_name << std::endl;
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model_state_pub.model_name = robot_name + "_gazebo";
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ros::Rate loop_rate(1000);
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if(def_frame == coord::WORLD)
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{
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model_state_pub.pose.position.x = 0.0;
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model_state_pub.pose.position.y = 0.0;
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model_state_pub.pose.position.z = 0.5;
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model_state_pub.pose.orientation.x = 0.0;
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model_state_pub.pose.orientation.y = 0.0;
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model_state_pub.pose.orientation.z = 0.0;
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model_state_pub.pose.orientation.w = 1.0;
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model_state_pub.reference_frame = "world";
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long long time_ms = 0; //time, ms
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const double period = 5000; //ms
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const double radius = 1.5; //m
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tf::Quaternion q;
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while(ros::ok())
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{
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model_state_pub.pose.position.x = radius * sin(2*M_PI*(double)time_ms/period);
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model_state_pub.pose.position.y = radius * cos(2*M_PI*(double)time_ms/period);
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model_state_pub.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(0, 0, - 2*M_PI*(double)time_ms/period);
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move_publisher.publish(model_state_pub);
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loop_rate.sleep();
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time_ms += 1;
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}
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}
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else if(def_frame == coord::ROBOT)
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{
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model_state_pub.twist.linear.x= 0.02; //0.02: 2cm/sec
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model_state_pub.twist.linear.y= 0.0;
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model_state_pub.twist.linear.z= 0.08;
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model_state_pub.twist.angular.x= 0.0;
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model_state_pub.twist.angular.y= 0.0;
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model_state_pub.twist.angular.z= 0.0;
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model_state_pub.reference_frame = "base";
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while(ros::ok())
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{
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move_publisher.publish(model_state_pub);
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loop_rate.sleep();
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}
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}
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}
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<arg name="user_debug" default="false"/>
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(find unitree_worlds)/$(arg wname).world"/>
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<arg name="world_name" value="$(find unitree_gazebo)/worlds/$(arg wname).world"/>
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<arg name="debug" value="$(arg debug)"/>
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<arg name="gui" value="$(arg gui)"/>
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<arg name="paused" value="$(arg paused)"/>
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</model>
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<include>
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<uri>model:///home/bian/catkin_ws/src/unitree/worlds/building_editor_models/stairs</uri>
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<uri>model:///home/bian/catkin_ws/src/unitree_ros/unitree_gazebo/worlds/building_editor_models/stairs</uri>
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</include>
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</world>
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@ -28,4 +28,5 @@ link_directories($(catkin_LIB_DIRS) lib)
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add_library( unitree_legged_control
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src/joint_controller.cpp
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)
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add_dependencies(${PROJECT_NAME} unitree_legged_msgs_gencpp)
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target_link_libraries(unitree_legged_control ${catkin_LIBRARIES} unitree_joint_control_tool)
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DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.h"
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)
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)
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cmake_minimum_required(VERSION 3.0.2)
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project(unitree_ros)
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find_package(catkin REQUIRED)
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catkin_metapackage()
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<?xml version="1.0"?>
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<package format="2">
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<name>unitree_ros</name>
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<version>0.0.1</version>
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<description>This is the metapackage of all unitree robots</description>
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<maintainer email="unitree@todo.todo">TODO</maintainer>
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<license>TODO</license>
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<buildtool_depend>catkin</buildtool_depend>
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<export>
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<metapackage />
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</export>
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</package>
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cmake_minimum_required(VERSION 2.8.3)
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project(unitree_worlds)
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find_package(catkin REQUIRED COMPONENTS
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)
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catkin_package(
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CATKIN_DEPENDS
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)
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include_directories(
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)
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@ -1,12 +0,0 @@
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<?xml version="1.0"?>
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<package format="2">
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<name>unitree_worlds</name>
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<version>0.0.1</version>
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<description>The worlds package</description>
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<maintainer email="laikago@unitree.cc">unitree</maintainer>
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<license>TODO</license>
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<buildtool_depend>catkin</buildtool_depend>
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</package>
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