Add b1z1_description package
This commit is contained in:
Paul
parent
3435263d52
commit
9f3e0710db
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cmake_minimum_required(VERSION 3.0.2)
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project(b1z1_description)
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find_package(catkin REQUIRED)
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b1z1_gazebo:
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# Publish all joint states -----------------------------------
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joint_state_controller:
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type: joint_state_controller/JointStateController
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publish_rate: 1000
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# FL Controllers ---------------------------------------
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FL_hip_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: FL_hip_joint
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pid: {p: 100.0, i: 0.0, d: 5.0}
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FL_thigh_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: FL_thigh_joint
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pid: {p: 300.0, i: 0.0, d: 8.0}
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FL_calf_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: FL_calf_joint
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pid: {p: 300.0, i: 0.0, d: 8.0}
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# FR Controllers ---------------------------------------
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FR_hip_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: FR_hip_joint
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pid: {p: 100.0, i: 0.0, d: 5.0}
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FR_thigh_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: FR_thigh_joint
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pid: {p: 300.0, i: 0.0, d: 8.0}
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FR_calf_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: FR_calf_joint
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pid: {p: 300.0, i: 0.0, d: 8.0}
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# RL Controllers ---------------------------------------
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RL_hip_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: RL_hip_joint
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pid: {p: 100.0, i: 0.0, d: 5.0}
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RL_thigh_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: RL_thigh_joint
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pid: {p: 300.0, i: 0.0, d: 8.0}
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RL_calf_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: RL_calf_joint
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pid: {p: 300.0, i: 0.0, d: 8.0}
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# RR Controllers ---------------------------------------
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RR_hip_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: RR_hip_joint
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pid: {p: 100.0, i: 0.0, d: 5.0}
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RR_thigh_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: RR_thigh_joint
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pid: {p: 300.0, i: 0.0, d: 8.0}
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RR_calf_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: RR_calf_joint
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pid: {p: 300.0, i: 0.0, d: 8.0}
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# Z1 Controllers ---------------------------------------
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Joint01_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: joint1
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pid: {p: 300.0, i: 0.0, d: 5.0}
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Joint02_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: joint2
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pid: {p: 300.0, i: 0.0, d: 5.0}
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Joint03_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: joint3
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pid: {p: 300.0, i: 0.0, d: 5.0}
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Joint04_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: joint4
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pid: {p: 300.0, i: 0.0, d: 5.0}
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Joint05_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: joint5
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pid: {p: 300.0, i: 0.0, d: 5.0}
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Joint06_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: joint6
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pid: {p: 300.0, i: 0.0, d: 5.0}
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gripper_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: jointGripper
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pid: {p: 300.0, i: 0.0, d: 5.0}
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<launch>
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<arg name="wname" default="earth"/>
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<arg name="rname" default="b1z1"/>
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<arg name="robot_path" value="(find $(arg rname)_description)"/>
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<arg name="dollar" value="$"/>
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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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<arg name="UnitreeGripperYN" default="true"/>
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(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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<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="$(find xacro)/xacro --inorder '$(arg dollar)$(arg robot_path)/xacro/robot.xacro'
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DEBUG:=$(arg user_debug) UnitreeGripper:=$(arg UnitreeGripperYN)"/>
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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 0.75 -model $(arg rname)_gazebo -param robot_description -unpause"/>
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<!-- Load joint controller configurations from YAML file to parameter server -->
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<rosparam file="$(arg dollar)$(arg robot_path)/config/robot_control.yaml" command="load"/>
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<!-- load the controllers -->
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<group unless="$(arg UnitreeGripperYN)">
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<node pkg="controller_manager" type="spawner" name="controller_spawner" respawn="false"
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output="screen" ns="/$(arg rname)_gazebo" args="joint_state_controller
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Joint01_controller Joint02_controller Joint03_controller
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Joint04_controller Joint05_controller Joint06_controller
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FL_hip_controller FL_thigh_controller FL_calf_controller
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FR_hip_controller FR_thigh_controller FR_calf_controller
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RL_hip_controller RL_thigh_controller RL_calf_controller
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RR_hip_controller RR_thigh_controller RR_calf_controller"/>
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</group>
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<group if="$(arg UnitreeGripperYN)">
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<node pkg="controller_manager" type="spawner" name="controller_spawner" respawn="false"
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output="screen" ns="/$(arg rname)_gazebo" args="joint_state_controller
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Joint01_controller Joint02_controller Joint03_controller
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Joint04_controller Joint05_controller Joint06_controller
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gripper_controller
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FL_hip_controller FL_thigh_controller FL_calf_controller
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FR_hip_controller FR_thigh_controller FR_calf_controller
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RL_hip_controller RL_thigh_controller RL_calf_controller
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RR_hip_controller RR_thigh_controller RR_calf_controller"/>
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</group>
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<!-- convert joint states to TF transforms for rviz, etc -->
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<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"
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respawn="false" output="screen">
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<remap from="/joint_states" to="/$(arg rname)_gazebo/joint_states"/>
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</node>
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<!-- load the parameter unitree_controller -->
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<include file="$(find unitree_controller)/launch/set_ctrl.launch">
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<arg name="rname" value="$(arg rname)"/>
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</include>
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</launch>
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<launch>
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<arg name="user_debug" default="false"/>
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<arg name="UnitreeGripperYN" default="true"/>
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<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find b1z1_description)/xacro/robot.xacro'
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DEBUG:=$(arg user_debug) UnitreeGripper:=$(arg UnitreeGripperYN)"/>
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<node pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" name="joint_state_publisher"/>
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<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
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<param name="publish_frequency" type="double" value="1000.0"/>
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</node>
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<node pkg="rviz" type="rviz" name="rviz" respawn="false" output="screen"
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args="-d $(find b1_description)/launch/check_joint.rviz"/>
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</launch>
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<?xml version="1.0"?>
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<package format="2">
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<name>b1z1_description</name>
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<version>0.0.0</version>
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<description>The b1z1_description package</description>
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<maintainer email="b1@unitree.cc">unitree</maintainer>
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<license>TODO</license>
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<buildtool_depend>catkin</buildtool_depend>
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</package>
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<?xml version="1.0"?>
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<!-- configurable constant parameters for b1z1_description -->
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<robot name="b1z1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<!-- include B1 constants -->
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<xacro:include filename="$(find b1_description)/xacro/const.xacro"/>
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<!-- Z1 mounting point with respect to B1 trunk -->
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<xacro:property name="arm_offset_x" value="${hip_offset_x}"/>
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<xacro:property name="arm_offset_y" value="0"/>
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<xacro:property name="arm_offset_z" value="${trunk_height/2.0 + 0.01}"/>
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<xacro:property name="arm_offset_r" value="0"/>
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<xacro:property name="arm_offset_p" value="0"/>
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<xacro:property name="arm_offset_yaw" value="0"/>
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</robot>
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<?xml version="1.0"?>
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<robot>
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<!-- ros_control plugin -->
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<gazebo>
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<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
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<robotNamespace>/b1z1_gazebo</robotNamespace>
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<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
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</plugin>
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</gazebo>
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<!-- Show the trajectory of trunk center. -->
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<gazebo>
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<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
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<frequency>10</frequency>
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<plot>
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<link>base</link>
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<pose>0 0 0 0 0 0</pose>
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<material>Gazebo/Yellow</material>
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</plot>
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</plugin>
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</gazebo>
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<!-- Show the trajectory of foot. You can add another trajectory about another foot. -->
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<!-- <gazebo>
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<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
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<frequency>100</frequency>
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<plot>
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<link>FL_foot</link>
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<pose>0 0 0 0 0 0</pose>
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<material>Gazebo/Green</material>
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</plot>
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</plugin>
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</gazebo> -->
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<gazebo>
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<plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
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<bodyName>trunk</bodyName>
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<topicName>/apply_force/trunk</topicName>
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</plugin>
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</gazebo>
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<gazebo reference="imu_link">
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<gravity>true</gravity>
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<sensor name="imu_sensor" type="imu">
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<always_on>true</always_on>
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<update_rate>1000</update_rate>
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<visualize>true</visualize>
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<topic>__default_topic__</topic>
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<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
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<topicName>trunk_imu</topicName>
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<bodyName>imu_link</bodyName>
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<updateRateHZ>1000.0</updateRateHZ>
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<gaussianNoise>0.0</gaussianNoise>
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<xyzOffset>0 0 0</xyzOffset>
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<rpyOffset>0 0 0</rpyOffset>
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<frameName>imu_link</frameName>
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</plugin>
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<pose>0 0 0 0 0 0</pose>
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</sensor>
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</gazebo>
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<!-- Foot contacts. -->
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<gazebo reference="FR_calf">
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<sensor name="FR_foot_contact" type="contact">
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<update_rate>100</update_rate>
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<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
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<contact>
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<collision>FR_calf_fixed_joint_lump__FR_foot_collision_1</collision>
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</contact>
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</sensor>
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</gazebo>
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<gazebo reference="FL_calf">
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<sensor name="FL_foot_contact" type="contact">
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<update_rate>100</update_rate>
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<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
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<contact>
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<collision>FL_calf_fixed_joint_lump__FL_foot_collision_1</collision>
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</contact>
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</sensor>
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</gazebo>
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<gazebo reference="RR_calf">
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<sensor name="RR_foot_contact" type="contact">
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<update_rate>100</update_rate>
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<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
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<contact>
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<collision>RR_calf_fixed_joint_lump__RR_foot_collision_1</collision>
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</contact>
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</sensor>
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</gazebo>
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<gazebo reference="RL_calf">
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<sensor name="RL_foot_contact" type="contact">
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<update_rate>100</update_rate>
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<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
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<contact>
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<collision>RL_calf_fixed_joint_lump__RL_foot_collision_1</collision>
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</contact>
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</sensor>
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</gazebo>
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<!-- Visualization of Foot contacts. -->
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<gazebo reference="FR_foot">
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<visual>
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<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
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<topicName>FR_foot_contact</topicName>
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</plugin>
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</visual>
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</gazebo>
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<gazebo reference="FL_foot">
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<visual>
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<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
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<topicName>FL_foot_contact</topicName>
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</plugin>
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</visual>
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</gazebo>
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<gazebo reference="RR_foot">
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<visual>
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<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
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<topicName>RR_foot_contact</topicName>
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</plugin>
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</visual>
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</gazebo>
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<gazebo reference="RL_foot">
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<visual>
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<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
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<topicName>RL_foot_contact</topicName>
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</plugin>
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</visual>
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</gazebo>
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<gazebo reference="base">
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<material>Gazebo/Green</material>
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<turnGravityOff>false</turnGravityOff>
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</gazebo>
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<gazebo reference="trunk">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<kp value="1000000.0"/>
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<kd value="1.0"/>
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</gazebo>
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<gazebo reference="stick_link">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<material>Gazebo/White</material>
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</gazebo>
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<gazebo reference="imu_link">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<material>Gazebo/Red</material>
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</gazebo>
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<!-- FL leg -->
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<gazebo reference="FL_hip">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<material>Gazebo/DarkGrey</material>
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</gazebo>
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<gazebo reference="FL_thigh">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<self_collide>1</self_collide>
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<material>Gazebo/DarkGrey</material>
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<kp value="1000000.0"/>
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<kd value="1.0"/>
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</gazebo>
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<gazebo reference="FL_calf">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<self_collide>1</self_collide>
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</gazebo>
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<gazebo reference="FL_foot">
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<mu1>0.6</mu1>
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<mu2>0.6</mu2>
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<self_collide>1</self_collide>
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<material>Gazebo/DarkGrey</material>
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<kp value="1000000.0"/>
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<kd value="1.0"/>
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</gazebo>
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<!-- FR leg -->
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<gazebo reference="FR_hip">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<material>Gazebo/DarkGrey</material>
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</gazebo>
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<gazebo reference="FR_thigh">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<self_collide>1</self_collide>
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<material>Gazebo/DarkGrey</material>
|
||||
<kp value="1000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
</gazebo>
|
||||
<gazebo reference="FR_calf">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
</gazebo>
|
||||
<gazebo reference="FR_foot">
|
||||
<mu1>0.6</mu1>
|
||||
<mu2>0.6</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
<kp value="1000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
</gazebo>
|
||||
|
||||
<!-- RL leg -->
|
||||
<gazebo reference="RL_hip">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
</gazebo>
|
||||
<gazebo reference="RL_thigh">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
<kp value="1000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
</gazebo>
|
||||
<gazebo reference="RL_calf">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
</gazebo>
|
||||
<gazebo reference="RL_foot">
|
||||
<mu1>0.6</mu1>
|
||||
<mu2>0.6</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
<kp value="1000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
</gazebo>
|
||||
|
||||
<!-- RR leg -->
|
||||
<gazebo reference="RR_hip">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
</gazebo>
|
||||
<gazebo reference="RR_thigh">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
<kp value="1000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
</gazebo>
|
||||
<gazebo reference="RR_calf">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
</gazebo>
|
||||
<gazebo reference="RR_foot">
|
||||
<mu1>0.6</mu1>
|
||||
<mu2>0.6</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
<kp value="1000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
</gazebo>
|
||||
|
||||
<!-- Z1 arm -->
|
||||
<gazebo reference="link04">
|
||||
<self_collide>true</self_collide>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="link05">
|
||||
<self_collide>true</self_collide>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="link06">
|
||||
<self_collide>true</self_collide>
|
||||
</gazebo>
|
||||
|
||||
</robot>
|
||||
|
|
@ -0,0 +1,42 @@
|
|||
<?xml version="1.0"?>
|
||||
|
||||
<!-- b1z1_description: B1 quadruped mounted with Z1 robotic arm -->
|
||||
<robot name="b1z1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<!-- define arguments -->
|
||||
<xacro:arg name="DEBUG" default="false"/> <!-- debug mode switch -->
|
||||
<xacro:arg name="UnitreeGripper" default="true"/> <!-- include Z1 end-effector -->
|
||||
|
||||
<!-- include xacro files -->
|
||||
<xacro:include filename="$(find b1_description)/xacro/b1.xacro"/>
|
||||
<xacro:include filename="$(find z1_description)/xacro/z1.xacro"/>
|
||||
<xacro:include filename="$(find b1z1_description)/xacro/const.xacro"/>
|
||||
<xacro:include filename="$(find b1z1_description)/xacro/gazebo.xacro"/>
|
||||
|
||||
<!-- B1 macro: expands to describe B1 quadruped -->
|
||||
<xacro:b1/>
|
||||
|
||||
<!-- Z1 macro: expands to describe Z1 robotic arm -->
|
||||
<xacro:z1 UnitreeGripper="$(arg UnitreeGripper)"/>
|
||||
|
||||
<!-- define joint affixing Z1 to B1 -->
|
||||
<joint name="trunk_arm_joint" type="fixed">
|
||||
<!-- Z1 mounting point wrt B1 trunk; configurable in const.xacro -->
|
||||
<origin rpy="${arm_offset_r} ${arm_offset_p} ${arm_offset_yaw}" xyz="${arm_offset_x} ${arm_offset_y} ${arm_offset_z}"/>
|
||||
<!-- define parent and child links -->
|
||||
<parent link="trunk"/>
|
||||
<child link="link00"/>
|
||||
</joint>
|
||||
|
||||
<!-- debug mode configuration -->
|
||||
<xacro:if value="$(arg DEBUG)">
|
||||
<!-- debug mode hangs up the robot; i.e., statically affixes B1 base to world -->
|
||||
<link name="world"/>
|
||||
<joint name="base_static_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="world"/>
|
||||
<child link="base"/>
|
||||
</joint>
|
||||
</xacro:if>
|
||||
|
||||
</robot>
|
||||
Loading…
Reference in New Issue