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moved unitree_legged_msg to unitree_ros_to_real

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Bian Zekun 2021-09-02 15:58:37 +08:00
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README.md
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# Introduction
Here are the ROS simulation packages of Unitree robots, You can load robots and joint controllers in Gazebo, so you can do low-level control(control the torque, position and angular velocity) on the robot joints. Please watch out that the Gazebo simulation cannot do high-level control, namely walking. Besides of these simulation functions, you can also control your real robots in ROS by the [unitree_legged_real](https://github.com/unitreerobotics) package. For real robots, you can do high-level and low-level control by our ROS packages.
Here are the ROS simulation packages of Unitree robots, You can load robots and joint controllers in Gazebo, so you can do low-level control(control the torque, position and angular velocity) on the robot joints. Please watch out that the Gazebo simulation cannot do high-level control, namely walking. Besides of these simulation functions, you can also control your real robots in ROS by the [unitree_ros_to_real](https://github.com/unitreerobotics) packages. For real robots, you can do high-level and low-level control by our ROS packages.
## Packages:
Robot description: `go1_description`, `a1_description`, `aliengo_description`, `laikago_description`
Robot and joints controller: `unitree_controller`
Basic message function: `unitree_legged_msgs`
Simulation related: `unitree_gazebo`, `unitree_legged_control`
<!-- Real robot control related: `unitree_legged_real` -->
# Dependencies
* [ROS](https://www.ros.org/) melodic or ROS kinetic(has not been tested)
* [Gazebo8](http://gazebosim.org/)
* [unitree_legged_msgs](https://github.com/unitreerobotics/unitree_ros): `unitree_legged_msgs` is a package under [unitree_ros_to_real](https://github.com/unitreerobotics/unitree_ros).
# Build
<!-- If you would like to fully compile the `unitree_ros`, please run the following command to install relative packages. -->
If your ROS is melodic:
@ -50,10 +44,6 @@ If you face a dependency problem, you can just run `catkin_make` again.
## unitree_legged_control:
It contains the joints controllers for Gazebo simulation, which allows users to control joints with position, velocity and torque. Refer to "unitree_ros/unitree_controller/src/servo.cpp" for joint control examples in different modes.
## unitree_legged_msgs:
ros-type message, including command and state of high-level and low-level control.
It would be better if it be compiled firstly, otherwise you may have dependency problems (such as that you can't find the header file).
## The description of robots:
Namely the description of Go1, A1, Aliengo and Laikago. Each package include mesh, urdf and xacro files of robot. Take Laikago as an example, you can check the model in Rviz by:
```

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unitree_legged_msgs/CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(unitree_legged_msgs)
find_package(catkin REQUIRED COMPONENTS
message_generation
std_msgs
geometry_msgs
sensor_msgs
)
add_message_files(
FILES
MotorCmd.msg
MotorState.msg
Cartesian.msg
IMU.msg
LED.msg
LowCmd.msg
LowState.msg
HighCmd.msg
HighState.msg
)
generate_messages(
DEPENDENCIES
std_msgs
geometry_msgs
sensor_msgs
)
catkin_package(
CATKIN_DEPENDS
message_runtime
std_msgs
geometry_msgs
sensor_msgs
)
#############
## Install ##
#############
# Mark topic names header files for installation
install(
DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
)

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unitree_legged_msgs/msg/Cartesian.msg
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float32 x
float32 y
float32 z

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unitree_legged_msgs/msg/HighCmd.msg
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uint8 levelFlag
uint16 commVersion # Old version Aliengo does not have
uint16 robotID # Old version Aliengo does not have
uint32 SN # Old version Aliengo does not have
uint8 bandWidth # Old version Aliengo does not have
uint8 mode
float32 forwardSpeed
float32 sideSpeed
float32 rotateSpeed
float32 bodyHeight
float32 footRaiseHeight
float32 yaw
float32 pitch
float32 roll
LED[4] led
uint8[40] wirelessRemote
uint8[40] AppRemote # Old version Aliengo does not have
uint32 reserve # Old version Aliengo does not have
int32 crc

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unitree_legged_msgs/msg/HighState.msg
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uint8 levelFlag
uint16 commVersion # Old version Aliengo does not have
uint16 robotID # Old version Aliengo does not have
uint32 SN # Old version Aliengo does not have
uint8 bandWidth # Old version Aliengo does not have
uint8 mode
IMU imu
float32 forwardSpeed
float32 sideSpeed
float32 rotateSpeed
float32 bodyHeight
float32 updownSpeed
float32 forwardPosition # (will be float type next version) # Old version Aliengo is different
float32 sidePosition # (will be float type next version) # Old version Aliengo is different
Cartesian[4] footPosition2Body
Cartesian[4] footSpeed2Body
int16[4] footForce # Old version Aliengo is different
int16[4] footForceEst # Old version Aliengo does not have
uint32 tick
uint8[40] wirelessRemote
uint32 reserve # Old version Aliengo does not have
uint32 crc
# Under are not defined in SDK yet. # Old version Aliengo does not have
Cartesian[4] eeForce # It's a 1-DOF force in real robot, but 3-DOF is better for visualization.
float32[12] jointP # for visualization

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unitree_legged_msgs/msg/IMU.msg
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float32[4] quaternion
float32[3] gyroscope
float32[3] accelerometer
int8 temperature

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unitree_legged_msgs/msg/LED.msg
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uint8 r
uint8 g
uint8 b

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unitree_legged_msgs/msg/LowCmd.msg
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uint8 levelFlag
uint16 commVersion # Old version Aliengo does not have
uint16 robotID # Old version Aliengo does not have
uint32 SN # Old version Aliengo does not have
uint8 bandWidth # Old version Aliengo does not have
MotorCmd[20] motorCmd
LED[4] led
uint8[40] wirelessRemote
uint32 reserve # Old version Aliengo does not have
uint32 crc
Cartesian[4] ff # will delete # Old version Aliengo does not have

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unitree_legged_msgs/msg/LowState.msg
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uint8 levelFlag
uint16 commVersion # Old version Aliengo does not have
uint16 robotID # Old version Aliengo does not have
uint32 SN # Old version Aliengo does not have
uint8 bandWidth # Old version Aliengo does not have
IMU imu
MotorState[20] motorState
int16[4] footForce # force sensors # Old version Aliengo is different
int16[4] footForceEst # force sensors # Old version Aliengo does not have
uint32 tick # reference real-time from motion controller (unit: us)
uint8[40] wirelessRemote # wireless commands
uint32 reserve # Old version Aliengo does not have
uint32 crc
# Old version Aliengo does not have:
Cartesian[4] eeForceRaw
Cartesian[4] eeForce #it's a 1-DOF force infact, but we use 3-DOF here just for visualization
Cartesian position # will delete
Cartesian velocity # will delete
Cartesian velocity_w # will delete

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unitree_legged_msgs/msg/MotorCmd.msg
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uint8 mode # motor target mode
float32 q # motor target position
float32 dq # motor target velocity
float32 tau # motor target torque
float32 Kp # motor spring stiffness coefficient
float32 Kd # motor damper coefficient
uint32[3] reserve # motor target torque

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unitree_legged_msgs/msg/MotorState.msg
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uint8 mode # motor current mode
float32 q # motor current position（rad）
float32 dq # motor current speed（rad/s）
float32 ddq # motor current speed（rad/s）
float32 tauEst # current estimated output torque（N*m）
float32 q_raw # motor current position（rad）
float32 dq_raw # motor current speed（rad/s）
float32 ddq_raw # motor current speed（rad/s）
int8 temperature # motor temperature（slow conduction of temperature leads to lag）
uint32[2] reserve

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unitree_legged_msgs/package.xml
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<?xml version="1.0"?>
<package format="2">
<name>unitree_legged_msgs</name>
<version>0.0.0</version>
<description>
The test messgaes package.
</description>
<maintainer email="laikago@unitree.cc">unitree</maintainer>
<license>TODO</license>
<buildtool_depend>catkin</buildtool_depend>
<depend>message_runtime</depend>
<depend>message_generation</depend>
<depend>std_msgs</depend>
<depend>geometry_msgs</depend>
<depend>sensor_msgs</depend>
</package>