Merge pull request #3 from P1terQ/dev

23-6-28 merge Dev to master
P1terQ · Jun 28, 2023 · c41d408 · c41d408
2 parents d77b72a + fe8ce05
commit c41d408
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diff --git a/.gitignore b/.gitignore
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
diff --git a/.vscode/settings.json b/.vscode/settings.json
diff --git a/LICENSE b/LICENSE
diff --git a/README.md b/README.md
@@ -1,5 +1,7 @@
 # Dependency
-OCS2(Hpp-fcl,ocs2_robotic_assets): 
+User should clone all the following packages into one ros working space
+
+OCS2(note: OCS2 also needs Hpp-fcl,ocs2_robotic_assets,punocchio): 
 Code: https://github.com/P1terQ/ocs2 -b master
 Original Repo: https://github.com/leggedrobotics/ocs2
 
@@ -15,11 +17,17 @@ realsense_ros_gazebo:
 Code: https://github.com/P1terQ/realsense_ros_gazebo -b master
 Original Repo: https://github.com/nilseuropa/realsense_ros_gazebo
 
-
-# Command
-1. Launch gazebo: roslaunch legged_unitree_description empty_world.launch
-2. Launch controller: roslaunch legged_controllers load_controller.launch
-3. Launch mapping: roslaunch elevation_mapping_cupy a1_segmentation.launch
+# Installation
+1. Build OCS2 by 'catkin build ocs2_legged_robot_ros ocs2_self_collision_visualization'
+2. Build Elevation_Mapping_Cupy by 'catkin build elevation_mapping_cupy' and 'catkin build convex_plane_decomposition_ros'
+3. Build realsense_ros_gazebo by 'catkin build realsense_ros_gazebo'
+4. Build Quad_Controller by 'legged_controllers legged_unitree_description legged_gazebo legged_unitree_hw'
+
+# Manul
+1. Launch gazebo simulation by 'roslaunch legged_unitree_description empty_world.launch'
+2. Launch controller by 'roslaunch legged_controllers load_controller.launch' and use controller_manager to start the controller. Note: User can specify whether to use perceptive controller by modifying 'if_perceptive'
+3. Launch mapping by 'roslaunch elevation_mapping_cupy a1_segmentation.launch' and wait until the segmentation appears in RVIZ
+4. Input the gait in the terminal of controller and Input target by '/cmd_vel' or '/move_base_simple/goal' or '/dummy_navigator_PTP/rel_goal' or '/dummy_navigator_PTP/abs_goal'
 
 # Robot
 Now this repo support unitree A1 and unitree aliengo. To play with different robots, user should modify the robot and parameters in load_controller.launch,  empty_world.launch, SwitchedModelReferenceManager.cpp

diff --git a/cerbrus_interface/CMakeLists.txt b/cerbrus_interface/CMakeLists.txt
diff --git a/cerbrus_interface/cerbrus_interface_plugins.xml b/cerbrus_interface/cerbrus_interface_plugins.xml
diff --git a/cerbrus_interface/include/cerbrus_interface/CerberusVilo.h b/cerbrus_interface/include/cerbrus_interface/CerberusVilo.h
diff --git a/cerbrus_interface/package.xml b/cerbrus_interface/package.xml
diff --git a/cerbrus_interface/src/CerberusVilo.cpp b/cerbrus_interface/src/CerberusVilo.cpp
diff --git a/docs/system_diagram.png b/docs/system_diagram.png
diff --git a/docs/tasks.png b/docs/tasks.png
diff --git a/legged_common/CMakeLists.txt b/legged_common/CMakeLists.txt
diff --git a/legged_common/include/legged_common/hardware_interface/ContactSensorInterface.h b/legged_common/include/legged_common/hardware_interface/ContactSensorInterface.h
diff --git a/legged_common/include/legged_common/hardware_interface/HybridJointInterface.h b/legged_common/include/legged_common/hardware_interface/HybridJointInterface.h
diff --git a/legged_common/include/legged_common/hardware_interface/LowStateInterface.h b/legged_common/include/legged_common/hardware_interface/LowStateInterface.h
diff --git a/legged_common/package.xml b/legged_common/package.xml
diff --git a/legged_control/CMakeLists.txt b/legged_control/CMakeLists.txt
diff --git a/legged_control/package.xml b/legged_control/package.xml
diff --git a/legged_controllers/CMakeLists.txt b/legged_controllers/CMakeLists.txt
@@ -78,6 +78,7 @@ target_compile_options(${PROJECT_NAME} PUBLIC ${OCS2_CXX_FLAGS})
 add_executable(legged_target_trajectories_publisher
         src/TargetTrajectoriesPublisher.cpp
         )
+
 add_dependencies(legged_target_trajectories_publisher
         ${PROJECT_NAME}
         ${catkin_EXPORTED_TARGETS}
@@ -88,6 +89,21 @@ target_link_libraries(legged_target_trajectories_publisher
         )
 target_compile_options(legged_target_trajectories_publisher PRIVATE ${OCS2_CXX_FLAGS})
 
+add_executable(legged_dummy_navigator
+        src/DummyNavigator.cpp
+        )
+
+add_dependencies(legged_dummy_navigator
+        ${PROJECT_NAME}
+        ${catkin_EXPORTED_TARGETS}
+        )
+target_link_libraries(legged_dummy_navigator
+        ${PROJECT_NAME}
+        ${catkin_LIBRARIES}
+        )
+target_compile_options(legged_dummy_navigator PRIVATE ${OCS2_CXX_FLAGS})
+
+
 #########################
 ###   CLANG TOOLING   ###
 #########################

diff --git a/legged_controllers/config/a1/gait.info b/legged_controllers/config/a1/gait.info
diff --git a/legged_controllers/config/a1/reference.info b/legged_controllers/config/a1/reference.info
diff --git a/legged_controllers/config/a1/task.info b/legged_controllers/config/a1/task.info
@@ -247,8 +247,8 @@ R
 FootPlacementSoftConstraint
 {
   ; relaxed log barrier parameters 小了过沟的时候过不去，大了上楼梯不好上
-  mu                     1.0
-  delta                  0.001
+  mu                     1.2
+  delta                  0.0005
 }
 
 frictionConeSoftConstraint

diff --git a/legged_controllers/config/aliengo/gait.info b/legged_controllers/config/aliengo/gait.info
@@ -12,6 +12,7 @@ list
   [9] lindyhop
   [10] skipping
   [11] pawup
+  [12] gallop
 }
 
 stance
@@ -275,3 +276,22 @@ pawup
      [1]     2.0
    }
 }
+
+gallop
+{
+  modeSequence
+  {
+    [0]     LF_RF
+    [1]     FLY
+    [2]     LF_RH
+    [3]     FLY
+  }
+  switchingTimes
+  {
+    [0]     0.0
+    [1]     0.28
+    [2]     0.30
+    [3]     0.58
+    [4]     0.60
+  }
+}
diff --git a/legged_controllers/config/aliengo/reference.info b/legged_controllers/config/aliengo/reference.info
@@ -1,5 +1,7 @@
 targetDisplacementVelocity          0.4;
 targetRotationVelocity              0.785;
+targetDisplacementVelocity_x        0.5
+targetDisplacementVelocity_y        0.3
 
 comHeight                           0.4
 

diff --git a/legged_controllers/config/aliengo/task.info b/legged_controllers/config/aliengo/task.info
@@ -252,9 +252,9 @@ R
 
 FootPlacementSoftConstraint
 {
-  ; relaxed log barrier parameters
-  mu                     1.2 ; 0.00004  0.01
-  delta                  0.001 ; 0.005  0.001
+  ; relaxed log barrier parameters   previous: 1.2 0.001
+  mu                     0.1; 0.00004  0.01
+  delta                  0.01 ; 0.005  0.001
 }
 
 frictionConeSoftConstraint

diff --git a/legged_controllers/config/controllers.yaml b/legged_controllers/config/controllers.yaml
diff --git a/legged_controllers/config/joy.yaml b/legged_controllers/config/joy.yaml