ubuntu20.04仿真复现legged_control

廖洽源githublegged control主页

相关库安装

git clone https://github.com/qiayuanl/legged_control.git		# 克隆到本地

# Clone OCS2
git clone git@github.com:leggedrobotics/ocs2.git
# Clone pinocchio
git clone --recurse-submodules https://github.com/leggedrobotics/pinocchio.git
# Clone hpp-fcl
git clone --recurse-submodules https://github.com/leggedrobotics/hpp-fcl.git
# Clone ocs2_robotic_assets
git clone https://github.com/leggedrobotics/ocs2_robotic_assets.git
# Install dependencies
sudo apt install liburdfdom-dev liboctomap-dev libassimp-dev

回到项目路径(src上一级目录)

catkin config -DCMAKE_BUILD_TYPE=RelWithDebInfo
catkin build ocs2_legged_robot_ros ocs2_self_collision_visualization

catkin build legged_gazebo

实物机器人采用下面这个(hw = hardware)

catkin build legged_unitree_hw

echo "source ~/leg/devel/setup.bash" >> ~/.bashrc		# 添加到环境变量
source  ~/.bashrc

roslaunch ocs2_legged_robot_ros legged_robot_ddp.launch		# 启动一个例子

仿真界面操作

export ROBOT_TYPE=a1		# 设置仿真机器人类型

roslaunch legged_unitree_description empty_world.launch		# 启动仿真空世界

# 加载控制器
# cheater = true 即初始化`legged_cheater_controller`
 roslaunch legged_controllers load_controller.launch cheater:=false

# 安装相关工具
sudo apt install ros-noetic-rqt-controller-manager
rqt			# 打开rqt工具

找到选项 Plugins–>Topics–>Message Publisher，然后打开/cmd_vel话题，这样机器人就站起来了


找到选项 Plugins–>Robot Tools–>Controller manager, 右键启动两个控制器，变成绿色。
找到选项 Plugins–>Robot Tools–>Robot Steering , 打开了速度控制条

接着导航栏这边主要修改成这样，odom，添加机器人模型add --> RobotModel，修改legged_robot_description。要显示足端轨迹就找到MarkerArray，打开相应的话题。

在输入了 roslaunch legged_controllers load_controller.launch cheater:=false，这个终端可以输入相应步态来控制机器人行走，比如trot走路，然后就可以用键盘控制运动了。