EmbodiedAI
/
unitree_ros
mirror of https://github.com/unitreerobotics/unitree_ros.git
3
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Merge pull request #33 from dbaldwin/master 

Fixing link to unitree_ros_to_real repo
This commit is contained in:
ZKBian 2022-02-08 10:45:06 +08:00 committed by GitHub
parent d16233df6a f52da17470
commit e8067df872
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 9 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
README.md
View File

@ -1,5 +1,5 @@
# 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_ros_to_real](https://github.com/unitreerobotics) packages. For real robots, you can do high-level and low-level control by our ROS packages.
Here are the ROS simulation packages for Unitree robots, You can load robots and joint controllers in Gazebo, so you can perform low-level control (control the torque, position and angular velocity) of the robot joints. Please be aware that the Gazebo simulation cannot do high-level control, namely walking. Aside from these simulation functions, you can also control your real robots in ROS with the [unitree_ros_to_real](https://github.com/unitreerobotics/unitree_ros_to_real) packages. For real robots, you can do high-level and low-level control using our ROS packages.
## Packages:
Robot description: `go1_description`, `a1_description`, `aliengo_description`, `laikago_description`
@ -9,17 +9,17 @@ Robot and joints controller: `unitree_controller`
Simulation related: `unitree_gazebo`, `unitree_legged_control`
# Dependencies
* [ROS](https://www.ros.org/) melodic or ROS kinetic(has not been tested)
* [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_to_real): `unitree_legged_msgs` is a package under [unitree_ros_to_real](https://github.com/unitreerobotics/unitree_ros_to_real).
# 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:
For ROS Melodic:
```
sudo apt-get install ros-melodic-controller-interface ros-melodic-gazebo-ros-control ros-melodic-joint-state-controller ros-melodic-effort-controllers ros-melodic-joint-trajectory-controller
```
Else if your ROS is kinetic:
For ROS Kinetic:
```
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
```
@ -42,16 +42,16 @@ If you face a dependency problem, you can just run `catkin_make` again.
# Detail of Packages
## 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.
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](https://github.com/unitreerobotics/unitree_ros/blob/master/unitree_controller/src/servo.cpp)" for joint control examples in different modes.
## 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:
Namely the description of Go1, A1, Aliengo and Laikago. Each package includes mesh, urdf and xacro files of robot. Take Laikago for example, you can check the model in Rviz by:
```
roslaunch laikago_description laikago_rviz.launch
```
## unitree_gazebo & unitree_controller:
You can launch the Gazebo simulation by the following command:
You can launch the Gazebo simulation with the following command:
```
roslaunch unitree_gazebo normal.launch rname:=a1 wname:=stairs
```
@ -68,10 +68,10 @@ And you can add external disturbances, like a push or a kick:
rosrun unitree_controller unitree_external_force
```
### Position and pose publisher
Here we showed how to control the position and pose of robot without a controller, which should be useful in SLAM or visual development.
Here we demonstrated how to control the position and pose of robot without a controller, which should be useful in SLAM or visual development.
Then run the position and pose publisher in another terminal:
```
rosrun unitree_controller unitree_move_kinetic
```
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.
The robot will turn around the origin, which is the movement under the world coordinate frame. And inside of the source file [move_publisher.cpp](https://github.com/unitreerobotics/unitree_ros/blob/master/unitree_controller/src/move_publisher.cpp), we also provide the method to move using the robot coordinate frame. 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 frame.