This repository is based on Unitree's repositories and aims to add the compatibility of the ROS packages with ROS Noetic. The list of the repositories considered is the following:
- unitree_ros
- unitree_ros_to_real (only the package
unitree_legged_msgs) - unitree_guide
The repository contains all the necessary packages to run a simulation with Unitree robots as well as with real robot. You can load robots and joint controllers in Gazebo and you can move the robot in the environment. There are also packages that enable SLAM and navigation functionalities.
For ROS Noetic:
sudo apt-get update
sudo apt-get install liblcm-dev
sudo apt-get install ros-noetic-controller-interface ros-noetic-gazebo-ros-pkgs ros-noetic-gazebo-ros-control ros-noetic-joint-state-controller ros-noetic-effort-controllers ros-noetic-joint-trajectory-controller ros-noetic-amcl ros-noetic-move-base ros-noetic-slam-gmapping ros-noetic-hector-slam ros-noetic-map-server ros-noetic-global-planner ros-noetic-dwa-local-planner ros-noetic-rtabmap-ros ros-noetic-realsense2-camera ros-noetic-realsense2-description ros-noetic-urg-node
Clone this repository in your catkin workspace:
git clone https://github.com/Sgt-Hashtag/Unitree-A1-Real-Ros
Update the submodules:
git submodule init
git submodule update --recursive
And open the file unitree_ros/unitree_gazebo/worlds/stairs.world. At the end of the file (line 112):
<include>
<uri>model:///home/unitree/catkin_ws/src/ros_unitree/unitree_ros/unitree_gazebo/worlds/building_editor_models/stairs</uri>
</include>
Please change the path of building_editor_models/stairs to the real path on your PC.
Then you can use catkin_make to build:
cd ~/catkin_ws
catkin_make
If you face a dependency problem, you can just run catkin_make again.
Here the CMakeLists for unitree_guide is set to Real robot by default but you can change it Simulation depending upon what is needed. But you cannot use Both, since the build latches to either the Gazebo or Real robot ros topics for Rviz interface.
The description of robots Go1, A1, Aliengo, and Laikago. Each package includes mesh, urdf and xacro files of robot. Take A1 for example, you can check the model in Rviz by:
roslaunch a1_description a1_rviz.launch
Open a terminal and start Gazebo with a preloaded world:
roslaunch unitree_gazebo robot_simulation.launch rname:=a1 wname:=earth
Where the rname means robot name, which can be laikago, aliengo, a1 or go1. The wname means world name, which can be earth, space or stairs. And the default value of rname is go1, while the default value of wname is earth. In Gazebo, the robot should be lying on the ground with joints not activated.
For starting the controller, open a new terminal, then run the following command:
rosrun unitree_guide base_ctrl
After starting the controller, the robot will lie on the ground of the simulator, then press the '2' key on the keyboard to switch the robot's finite state machine (FSM) from Passive(initial state) to FixedStand, then press the '4' key to switch the FSM from FixedStand to Trotting
Now you can press the 'W', 'A', 'S', 'D' keys to control the translation of the robot, and press the 'J', 'L' keys to control the rotation of the robot. Press the 'Spacebar', the robot will stop and stand on the ground. If there is no response, you need to click on the terminal opened for starting the controller and then repeat the previous operation.
The full list of transitions between states available is the following:
- Key '1': FixedStand/FreeStand to Passive
- Key '2': Passive/Trotting to FixedStand
- Key '3': Fixed stand to FreeStand
- Key '4': FixedStand/FreeStand to Trotting
- Key '5': FixedStand to MoveBase
- Key '8': FixedStand to StepTest
- Key '9': FixedStand to SwingTest
- Key '0': FixedStand to BalanceTest
The worlds included in this repository are simple worlds and they should be used for dedug purposes. If you want to add more realistc worlds, you can checkout the repository gazebo_worlds.
After following the instructions for the usage, you can specify which world you want to load with the argument wname:
roslaunch unitree_gazebo robot_simulation.launch rname:=a1 wname:=office_small
On your pc: export ROS_MASTER_IP=http://192.168.123.161:11311 export ROS_IP=192.168.123.114
Then for Intel PC over ssh: ssh -X unitree@192.168.123.161
roslaunch unitree_real real.launch
2nd Terminal
rosrun unitree_guide base_ctrl
Then for Nvidia PC over ssh: ssh -X unitree@192.168.123.12
roslaunch realsense2_camera rs_camera.launch depth_width:=424 depth_height:=240 depth_fps:=30 color_width:=424 color_height:=240 color_fps:=30 enable_pointcloud:=true align_depth:=true filters:=decimation decimation_filter_magnitude:=2 image_compression:=true
##Need to only do this once## Make sure your robot has the correct permissions for Lidar if used and is available at the fixed path on your system. Add the following rule to the udev service: Paste these lines to /etc/udev/rules.d/lidar.rules file:
KERNEL=="ttyACM*", ATTRS{idVendor}=="15d1", MODE="0666", GROUP="dialout", SYMLINK+="lidar", ENV{ID_MM_DEVICE_IGNORE}="1"
and reload udev rules:
sudo udevadm control --reload-rules && sudo udevadm trigger
Start the simulation in Gazebo:
roslaunch unitree_gazebo robot_simulation.launch rname:=a1 wname:=office_small rviz:=false
Start the pcl2lasescan node:
roslaunch pcl2scan pcl2scan.launch rname:=a1 use_sim:=true
We use the Hokuyo Lidar too here; Can optionally use wh
Start the robot controller:
rosrun unitree_guide base_ctrl
##NORMAL MAP
Start the mapping process with gmapping:
roslaunch unitree_navigation slam.launch rname:=a1 rviz:=true algorithm:=gmapping
Alternatively, you can start the mapping with hector:
roslaunch unitree_navigation slam.launch rname:=a1 rviz:=true algorithm:=hector
In the terminal of the robot controller, press the keys '2' and '4' to set the robot in trotting mode, then, move the robot around the environment to create the map.
During the mapping process, Rviz should show something similar to the following screehshot:
Save the map:
rosrun map_server map_saver -f ~/catkin_ws/src/ros_unitree/unitree_guide/unitree_navigation/maps/office_small
##OCTO MAP start mapping with configured octomap package
sudo apt-get update
sudo apt-get install ros-noetic-octomap-ros ros-noetic-octomap-msgs ros-noetic-octomap-server
roslaunch mapping3d_realsense mapping3d.launch use_sim:=true
save octomap created
rosrun octomap_server octomap_saver -f small_office_octopmap.bt /ot
Use MarkerArray from Rviz
Start the simulation in Gazebo:
roslaunch unitree_gazebo robot_simulation.launch rname:=a1 wname:=office_small rviz:=false
Start the robot controller:
rosrun unitree_guide base_ctrl
and press the keys '2' and '5' to activate the MoveBase mode.
Start the pcl2lasescan node:
roslaunch pcl2scan pcl2scan.launch rname:=a1
Start the navigation stack:
roslaunch unitree_navigation navigation.launch rname:=a1 map_file:=/home/isaac/Documents/catkin_ws/src/ros_unitree/unitree_guide/unitree_navigation/maps/office_small.yaml
Alternatively publish octomap:
rosrun octomap_server octomap_server_node src/ros_unitree/mapping3d_realsense/maps/small_office_octopmap.bt
Use MarkerArray from Rviz
In Rviz, first set the initial position of the robot with the "2D Pose Estimate" button. Next, set a navigation goal with the "2D Nav Goal" button.
"For static transform"
rosrun tf static_transform_publisher 0 0 0 0 0 0 1 map odom 100
If you are having problems with the movements of the robot and the node base_ctrl logs the following error:
[ERROR] Function setProcessScheduler failed.
Yo should consider to edit the file /etc/security/limits.conf and add the following two lines:
<username> hard rtprio 99
<username> soft rtprio 99
Replace <username> with your username.
Save, close the file and reboot the system to apply the changes.
#include <cstdint> Add this at the top of: grid_map/grid_map_core/include/grid_map_core/TypeDefs.hpp
#include <array> Add this at the top of: grid_map_sdf/include/grid_map_sdf/SignedDistanceField.hpp
Replace /UnitreeA1/Unitree_ws/src/grid_map/grid_map_pcl/Cmakelists.txt with the following:
cmake_minimum_required(VERSION 3.5.1)
project(grid_map_pcl)
set(CMAKE_CXX_STANDARD 17)
add_compile_options(-Wall -Wextra -Wpedantic)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
set(SRC_FILES
src/GridMapPclConverter.cpp
src/GridMapPclLoader.cpp
src/helpers.cpp
src/PclLoaderParameters.cpp
src/PointcloudProcessor.cpp
)
set(CATKIN_PACKAGE_DEPENDENCIES
grid_map_core
grid_map_msgs
grid_map_ros
pcl_ros
roscpp
)
find_package(OpenMP QUIET)
if (OpenMP_FOUND)
add_compile_options("${OpenMP_CXX_FLAGS}")
add_definitions(-DGRID_MAP_PCL_OPENMP_FOUND=${OpenMP_FOUND})
endif()
find_package(PCL REQUIRED
COMPONENTS
common
features
filters
io
kdtree
segmentation
surface
)
## Find catkin macros and libraries
find_package(catkin REQUIRED
COMPONENTS
${CATKIN_PACKAGE_DEPENDENCIES}
)
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS
include
LIBRARIES
${PROJECT_NAME}
CATKIN_DEPENDS
${CATKIN_PACKAGE_DEPENDENCIES}
DEPENDS
PCL
)
###########
## Build ##
###########
# Library.
add_library(${PROJECT_NAME}
${SRC_FILES}
)
add_dependencies(${PROJECT_NAME}
${catkin_EXPORTED_TARGETS}
)
target_include_directories(${PROJECT_NAME} PRIVATE
include
)
target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR}
${OpenMP_CXX_INCLUDE_DIRS}
${PCL_COMMON_INCLUDE_DIRS}
${PCL_FEATURES_INCLUDE_DIRS}
${PCL_FILTERS_INCLUDE_DIRS}
${PCL_IO_INCLUDE_DIRS}
${PCL_KDTREE_INCLUDE_DIRS}
${PCL_SEGMENTATION_INCLUDE_DIRS}
${PCL_SURFACE_INCLUDE_DIRS}
)
target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES}
${OpenMP_CXX_LIBRARIES}
yaml-cpp::yaml-cpp
)
# Nodes.
add_executable(grid_map_pcl_loader_node
src/grid_map_pcl_loader_node.cpp
)
add_dependencies(grid_map_pcl_loader_node
${PROJECT_NAME}
)
target_include_directories(grid_map_pcl_loader_node PRIVATE
include
)
target_include_directories(grid_map_pcl_loader_node SYSTEM PUBLIC
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR}
)
target_link_libraries(grid_map_pcl_loader_node
${PROJECT_NAME}
${catkin_LIBRARIES}
)
add_executable(pointcloud_publisher_node
src/pointcloud_publisher_node.cpp
)
add_dependencies(pointcloud_publisher_node
${PROJECT_NAME}
)
target_include_directories(pointcloud_publisher_node PRIVATE
include
)
target_include_directories(pointcloud_publisher_node SYSTEM PUBLIC
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR}
)
target_link_libraries(pointcloud_publisher_node
${PROJECT_NAME}
${catkin_LIBRARIES}
)
#############
## Install ##
#############
install(
TARGETS
${PROJECT_NAME}
grid_map_pcl_loader_node
pointcloud_publisher_node
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(
DIRECTORY
include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.hpp"
)
install(
DIRECTORY
doc
config
launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(
DIRECTORY
test
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
FILES_MATCHING PATTERN "*.pcd"
)
install(
FILES
README.md
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
#############
## Testing ##
#############
if(CATKIN_ENABLE_TESTING)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread")
find_package(catkin REQUIRED
COMPONENTS
${CATKIN_PACKAGE_DEPENDENCIES}
roslaunch
)
find_package(yaml-cpp REQUIRED)
roslaunch_add_file_check(launch)
## Add gtest based cpp test target and link libraries
catkin_add_gtest(${PROJECT_NAME}-test
test/test_grid_map_pcl.cpp
test/GridMapPclLoaderTest.cpp
test/HelpersTest.cpp
test/PointcloudProcessorTest.cpp
test/test_helpers.cpp
test/PointcloudCreator.cpp
)
target_include_directories(${PROJECT_NAME}-test PRIVATE
include
)
target_include_directories(${PROJECT_NAME}-test SYSTEM PUBLIC
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR}
${OpenMP_CXX_INCLUDE_DIRS}
)
target_link_libraries(${PROJECT_NAME}-test
${PROJECT_NAME}
${catkin_LIBRARIES}
)
###################
## Code_coverage ##
###################
find_package(cmake_code_coverage QUIET)
if(cmake_code_coverage_FOUND)
add_gtest_coverage(
TEST_BUILD_TARGETS
${PROJECT_NAME}-test
)
endif()
endif()
#################
## Clang_tools ##
#################
find_package(cmake_clang_tools QUIET)