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GO1 시뮬2

진행 상태

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3 more properties

GO1 시뮬2

GO1 Quadruped Tutorials — GO1 Tutorials 1.0.0 documentation

Quadruped GO1

https://www.docs.quadruped.de/projects/go1/html/index.html

0. 코드

src.zip

147907.7KB

GO1 및 가제보 환경 켜기

roslaunch go1_config gazebo.launch
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실행사진

move_base 실행

	roslanch champ_gazebo run.launch
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1. 환경설정

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위 링크에서 simulation을 클릭 한 후 CHAMP를 클릭한다.

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Github가 들어가질텐데   Readme 따라 진행, 다음은 Readme 내용

# install
sudo apt install -y python-rosdep
cd <your_ws>/src
git clone --recursive https://github.com/chvmp/champ
git clone https://github.com/chvmp/champ_teleop
cd ..
rosdep install --from-paths src --ignore-src -r -y

# build workspace
cd <your_ws>
catkin_make
source <your_ws>/devel/setup.bash
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•

GO1 URDF 다운로드

# robot install
git clone https://github.com/chvmp/robots.git

# in robots folder
mkdir -p descriptions
cd descriptions
git clone https://github.com/chvmp/unitree_ros
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2. 실행

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Walking demo in RVIZ

# Run the base driver
roslaunch go1_config bringup.launch rviz:=true

# Run the teleop node
roslaunch champ_teleop teleop.launch
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실행영상

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SLAM demo

# Run the Gazebo environment
# world를 로드하는데 오래걸리므로 5분정도는 기다려 주기
roslaunch go1_config gazebo.launch

# Run gmapping package and move_base
roslaunch go1_config slam.launch rviz:=true
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실행영상

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Autonomous Navigation

# Run the Gazebo environment
roslaunch go1_config gazebo.launch

# Run amcl and move_base
roslaunch go1_config navigate.launch rviz:=true
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Spawning multiple robots in Gazebo

# Run Gazebo and default simulation world
roslaunch champ_gazebo spawn_world.launch

# You can also load your own world file by passing your world's path to 'gazebo_world' argument
roslaunch champ_gazebo spawn_world.launch gazebo_world:=<path_to_world_file>

# Spawning a robot
roslaunch go1_config spawn_robot.launch robot_name:=<unique_robot_name> world_init_x:=<x_position> world_init_y:=<y_position>
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3. Gazebo환경 코드 실행

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move_ex.py

#! /usr/bin/env python
# -*- coding: utf-8 -*-

import rospy
from geometry_msgs.msg import Twist

def twist_publisher():
    rospy.init_node('twist_publisher_node', anonymous=True)

		# cmd_vel or cmd_vel/smooth로 움직일 수 있음
    pub = rospy.Publisher('/cmd_vel/smooth', Twist, queue_size=10)

    rate = rospy.Rate(10)

    while not rospy.is_shutdown():
        twist_msg = Twist()
        twist_msg.linear.x = 0.5
        
        pub.publish(twist_msg)

        rate.sleep()

if __name__ == '__main__':
    try:
        twist_publisher()
    except rospy.ROSInterruptException:
        pass
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실행영상

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wego Python code

Unitree_go1_user_manual(Python)_wego.pdf

2318.8KB

#!/usr/bin/python

import sys
import time
import math

sys.path.append('../lib/python/amd64')
import robot_interface as sdk


if __name__ == '__main__':

    HIGHLEVEL = 0xee
    LOWLEVEL  = 0xff

    udp = sdk.UDP(HIGHLEVEL, 8080, "192.168.123.161", 8082)

    cmd = sdk.HighCmd()
    state = sdk.HighState()
    udp.InitCmdData(cmd)

    motiontime = 0
    while True:
        time.sleep(0.002)
        motiontime = motiontime + 1

        udp.Recv()
        udp.GetRecv(state)
        
        # print(motiontime)
        # print(state.imu.rpy[0])
        # print(motiontime, state.motorState[0].q, state.motorState[1].q, state.motorState[2].q)
        # print(state.imu.rpy[0])

        cmd.mode = 0      # 0:idle, default stand      1:forced stand     2:walk continuously
        cmd.gaitType = 0
        cmd.speedLevel = 0
        cmd.footRaiseHeight = 0
        cmd.bodyHeight = 0
        cmd.euler = [0, 0, 0]
        cmd.velocity = [0, 0]
        cmd.yawSpeed = 0.0
        cmd.reserve = 0

        # cmd.mode = 2
        # cmd.gaitType = 1
        # # cmd.position = [1, 0]
        # # cmd.position[0] = 2
        # cmd.velocity = [-0.2, 0] # -1  ~ +1
        # cmd.yawSpeed = 0
        # cmd.bodyHeight = 0.1

        if(motiontime > 0 and motiontime < 1000):
            cmd.mode = 1
            cmd.euler = [-0.3, 0, 0]
        
        if(motiontime > 1000 and motiontime < 2000):
            cmd.mode = 1
            cmd.euler = [0.3, 0, 0]
        
        if(motiontime > 2000 and motiontime < 3000):
            cmd.mode = 1
            cmd.euler = [0, -0.2, 0]

				...
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◦

UDP통신으로 로봇과 연결한 후 하는 것이라 시뮬에서는 안될듯?

4. GPS PLUGIN 셋팅

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URDF 셋팅(robot < descriptions < unitree_ros < robots < go1_descriptions < xacro < go1.champ.urdf에 다음파일 복붙)

<joint name="gps_joint" type="fixed">
    <parent link="trunk"/>
    <child link="gps_link"/>
  </joint>
  <link name="gps_link">
    <collision>
      <origin xyz="0 0 0.1" rpy="0 0 0"/>
      <geometry>
        <box size="0.2 0.2 0.2"/>
      </geometry>
    </collision>
    <visual>
      <origin xyz="0 0 0.1" rpy="0 0 0"/>
      <geometry>
        <box size="0.2 0.2 0.2"/>
      </geometry>
      <material name="blue"/>
    </visual>
    <inertial>
      <origin xyz="0 0 1" rpy="0 0 0"/>
      <mass value="1"/>
      <inertia
        ixx="1.0" ixy="0.0" ixz="0.0"
        iyy="1.0" iyz="0.0"
        izz="1.0"/>
    </inertial>
  </link>
  <gazebo>
    <plugin name="gazebo_ros_gps" filename="libhector_gazebo_ros_gps.so">
      <updateRate>4.0</updateRate>
      <bodyName>gps_link</bodyName>
      <frameId>gps_link</frameId>
      <topicName>/gps/fix</topicName>
      <velocityTopicName>/gps/fix_velocity</velocityTopicName>
      <referenceLatitude>-30.06022459407145675</referenceLatitude>
      <referenceLongitude>-51.173913575780311191</referenceLongitude>
      <referenceHeading>90</referenceHeading>
      <referenceAltitude>10</referenceAltitude>
      <offset>0 0 0</offset>
      <drift>0.001 0.001 0.001</drift>
      <gaussianNoise>0.05 0.05 0.05</gaussianNoise>
      <velocityDrift>0.001 0.001 0.001</velocityDrift>
      <velocityGaussianNoise>0.5 0.5 0.5</velocityGaussianNoise>
    </plugin>
  </gazebo>
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•

gps topic = /gps/fix

5. Lidar plugin 셋팅

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URDF셋팅(robot < descriptions < unitree_ros < robots < go1_descriptions < xacro < go1.champ.urdf에 다음파일 복붙)

<!-- lidar -->
  <joint name="hokuyo_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0.0 0.2"/>
    <parent link="gps_link"/>
    <child link="hokuyo_frame"/>
  </joint>
  <link name="hokuyo_frame">
    <!-- <inertial>
      <mass value="0.270"/>
      <origin rpy="0 0 0" xyz="0 0 0.5"/>
      <inertia ixx="2.632e-4" ixy="0" ixz="0" iyy="2.632e-4" iyz="0" izz="1.62e-4"/>
    </inertial> -->
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://hector_sensors_description/meshes/hokuyo_utm30lx/hokuyo_utm_30lx.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 -0.0115"/>
      <geometry>
        <box size="0.058 0.058 0.087"/>
        <!--<mesh filename="package://hector_sensors_description/meshes/hokuyo_utm30lx/hokuyo_utm_30lx.stl"/>-->
      </geometry>
    </collision>
  </link>
  <gazebo reference="hokuyo_frame">
    <sensor name="hokuyo" type="ray">
      <always_on>true</always_on>
      <update_rate>30</update_rate>
      <pose>0 0 0 0 0 0</pose>
      <visualize>true</visualize>
      <ray>
        <scan>
          <horizontal>
            <samples>1040</samples>
            <resolution>1</resolution>
            <min_angle>2.26892802759</min_angle>
            <max_angle>-2.26892802759</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.2</min>
          <max>30.0</max>
          <resolution>0.01</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.004</stddev>
        </noise>
      </ray>
      <plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_hokuyo_controller">
        <topicName>scan</topicName>
        <frameName>hokuyo_frame</frameName>
      </plugin>
    </sensor>
  </gazebo>
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6. Purepursuit을 적용하여 정해진 경로를 따라 로봇 제어

영상

movebase 실험