Merge pull request #2 from IntelligentRoboticsLabs/humble-devel

1.0.0

.github/workflows/humble.yaml

@@ -20,7 +20,7 @@ jobs:
       - name: Build ROS 2 package
         uses: ros-tooling/action-ros-ci@v0.3
         with:
-          package-name: go2_robot go2_description go2_interfaces
+          package-name: go2_robot go2_description go2_bringup go2_driver go2_hardware go2_simulation unitree_api unitree_go go2_interfaces go2_nav go2_rviz
           target-ros2-distro: humble
           colcon-defaults: |
             {

.github/workflows/humble_devel.yaml

@@ -12,6 +12,9 @@ jobs:
       - name: Checkout
         uses: actions/checkout@v2
 
+      - name: Install nlohmann
+        run: sudo apt -y install nlohmann-json3-dev
+
       - name: Setup ROS 2 environment
         uses: ros-tooling/setup-ros@0.7.0
         with:
@@ -20,7 +23,7 @@ jobs:
       - name: Build ROS 2 package
         uses: ros-tooling/action-ros-ci@v0.3
         with:
-          package-name: go2_robot go2_description go2_interfaces
+          package-name: go2_robot go2_description go2_bringup go2_driver go2_hardware go2_simulation unitree_api unitree_go go2_interfaces go2_nav go2_rviz
           target-ros2-distro: humble
           colcon-defaults: |
             {

README.md

@@ -1 +1,218 @@
-# Unitree GO2 Robot
+# Unitree GO2 Robot ROS 2
+
+<p align="center">
+<img width="1280" height="420" src="https://github.com/IntelligentRoboticsLabs/go2_robot/assets/44479765/da616d77-cf4d-4acf-af2f-adc99f4f72d7)" alt='Go2 point cloud'>
+</p>
+
+[![License](https://img.shields.io/badge/license-BSD--3-yellow.svg)](https://opensource.org/licenses/BSD-3-Clause)
+![distro](https://img.shields.io/badge/Ubuntu%2022-Jammy%20Jellyfish-green)
+![distro](https://img.shields.io/badge/ROS2-Humble-blue)
+[![humble](https://github.com/IntelligentRoboticsLabs/go2_robot/actions/workflows/humble.yaml/badge.svg)](https://github.com/IntelligentRoboticsLabs/go2_robot/actions/workflows/humble.yaml)
+[![humble-devel](https://github.com/IntelligentRoboticsLabs/go2_robot/actions/workflows/humble_devel.yaml/badge.svg)](https://github.com/IntelligentRoboticsLabs/go2_robot/actions/workflows/humble_devel.yaml)
+
+In this package is our integration for the Unitee Go2 robot.
+
+## Checklist
+
+- [x] robot description
+- [x] odom
+- [x] pointcloud
+- [x] joint_states
+- [x] Visualization in rviz
+- [x] cmd_vel
+- [x] go2_interfaces
+- [x] Change modes
+- [x] Change configuration for robot
+- [ ] SLAM (working in progress)
+- [ ] Nav2 (working in progress)
+- [ ] Ros2cli
+- [ ] Hardware interface
+- [ ] Gazebo simulation
+
+## Installation
+You need to have previously installed ROS2. Please follow this [guide](https://docs.ros.org/en/humble/Installation.html) if you don't have it.
+
+```bash
+source /opt/ros/humble/setup.bash
+```
+
+Create workspace and clone the repository
+
+```bash
+mkdir ~/go2_ws/src
+cd ~/go2_ws/src
+git clone https://github.com/IntelligentRoboticsLabs/go2_robot.git -b humble
+```
+
+Install dependencies and build workspace
+```bash
+cd ~/go2_ws
+sudo rosdep init
+rosdep update
+rosdep install --from-paths src --ignore-src -r -y
+colcon build --symlink-install 
+```
+
+Setup the workspace
+```bash
+source ~/ros2_ws/install/setup.bash
+```
+
+## Sensor installation
+If you have purchased a hesai lidar 3d, or a realsense d435i, follow the following steps inside the robot.
+
+### Hesai Lidar
+
+```bash
+sudo apt-get install libboost-all-dev
+sudo apt-get install -y libyaml-cpp-dev
+git clone --recurse-submodules https://github.com/HesaiTechnology/HesaiLidar_ROS_2.0.git
+cd ..
+source /opt/ros/$ROS_DISTRO/setup.bash
+rosdep install --from-paths src --ignore-src -r -y
+colcon build --symlink-install
+source install/setup.bash
+```
+
+Set the lidar IP to `config/config.yaml`
+```yaml
+lidar:
+- driver:
+    udp_port: 2368                                       #UDP port of lidar
+    ptc_port: 9347                                       #PTC port of lidar
+    device_ip_address: <Device IP>                       #IP address of lidar
+    pcap_path: "<Your PCAP file path>"                   #The path of pcap file (set during offline playback)
+    correction_file_path: "<Your correction file path>"  #LiDAR angle file, required for offline playback of pcap/packet rosbag
+    firetimes_path: "<Your firetime file path>"          #The path of firetimes file
+    source_type: 2                                       #The type of data source, 1: real-time lidar connection, 2: pcap, 3: packet rosbag
+    pcap_play_synchronization: true                      #Pcap play rate synchronize with the host time
+    x: 0                                                 #Calibration parameter
+    y: 0                                                 #Calibration parameter
+    z: 0                                                 #Calibration parameter
+    roll: 0                                              #Calibration parameter
+    pitch: 0                                             #Calibration parameter
+    yaw: 0                                               #Calibration parameter
+ros:
+    ros_frame_id: hesai_lidar                            #Frame id of packet message and point cloud message
+    ros_recv_packet_topic: /lidar_packets                #Topic used to receive lidar packets from ROS
+    ros_send_packet_topic: /lidar_packets                #Topic used to send lidar packets through ROS
+    ros_send_point_cloud_topic: /lidar_points            #Topic used to send point cloud through ROS
+    send_packet_ros: true                                #true: Send packets through ROS 
+    send_point_cloud_ros: true                           #true: Send point cloud through ROS 
+```
+
+### Realsense d435i
+
+```bash
+sudo apt install ros-humble-realsense2-camera
+```
+
+## Usage
+### Bringup the robot
+Either from your computer, or from inside the robot, execute the following:
+```bash
+ros2 launch go2_bringup go2.launch.py
+```
+> If you have a realsense and a lidar inside the robot, use the lidar or realsense parameters.
+> It will only work if you throw everything inside the robot
+
+If you want to see your robot through rviz, do it as follows:
+```bash
+ros2 launch go2_bringup go2.launch.py rviz:=True
+```
+
+### Change modes
+If what you want is for your robot to be able to change modes, thus performing the movements predefined by the controller, use the following service:
+```bash
+ros2 service call /mode go2_interfaces/srv/Mode "mode: 'hello'"
+```
+
+<details>
+<summary>Available modes</summary>
+```
+damp
+balance_stand
+stop_move
+stand_up
+stand_down
+sit
+rise_sit
+hello
+stretch
+wallow
+scrape
+front_flip
+front_jump
+front_pounce
+dance1
+dance2
+finger_heart
+```
+</details>
+
+### Change configurations for robot
+If you want, you can modify the ways the robot walks, the height of the base, the height of the legs when walking... I show you the different parameters that can be modified:
+
+- BodyHeight: Set the relative height of the body above the ground when standing and walking. [0.3 ~ 0.5]
+  ```bash
+  ros2 service call /body_height go2_interfaces/srv/BodyHeight  "height: 0.0"
+  ```
+- ContinuousGait: Continuous movement
+  ```bash
+  ros2 service call /continuous_gait go2_interfaces/srv/ContinuousGait  "flag: false"
+  ```
+- Euler: Posture when standing and walking. [-0.75 ~ 0.75] [-0.75 ~ 0.75] [-1.5 ~ 1.5]
+  ```bash
+  ros2 service call /euler go2_interfaces/srv/Euler "roll: 0.0 pitch: 0.0 yaw: 0.0"
+  ```
+- FootRaiseHeight: Set the relative height of foot lift during movement [-0.06 ~ 0.03]
+  ```bash
+  ros2 service call /foot_raise_height go2_interfaces/srv/FootRaiseHeight "height: 0.0"
+  ```
+- Pose: Set true to pose and false to restore
+  ```bash
+  ros2 service call /pose go2_interfaces/srv/Pose "flag: false"
+  ```
+- SpeedLevel: Set the speed range [-1 ~ 1]
+  ```bash
+  ros2 service call /speed_level go2_interfaces/srv/SpeedLevel "level: 0"
+  ```
+- SwitchGait: Switch gait [0 - 4]
+  ```bash
+  ros2 service call /switch_gait go2_interfaces/srv/SwitchGait  "d: 0"
+  ```
+- SwitchJoystick: Native remote control response switch
+  ```bash
+  ros2 service call /switch_joystick go2_interfaces/srv/SwitchJoystick "flag: false"
+  ```
+
+## SLAM
+In the future, work in progress.
+
+## NAVIGATION
+In the future, work in progress.
+
+## Demos
+### Robot description
+
+[go2_tf.webm](https://github.com/IntelligentRoboticsLabs/go2_robot/assets/44479765/b019e6fc-875f-4870-a510-afa6e1353e08)
+
+### Robot PointCloud
+
+https://github.com/IntelligentRoboticsLabs/go2_robot/assets/44479765/c164840a-6857-4d95-a50e-023c5bb44edb
+
+## Acknowledgment
+Thanks to [unitree](https://github.com/unitreerobotics/unitree_ros2) for providing the support and communication interfaces with the robot.
+
+## About
+This is a project made by the [Intelligent Robotics Lab](https://intelligentroboticslab.gsyc.urjc.es/), a research group from the [Universidad Rey Juan Carlos](https://www.urjc.es/).
+Copyright &copy; 2024.
+
+Maintainers:
+
+* [Juan Carlos Manzanares Serrano](https://github.com/Juancams)
+* [Juan S. Cely](https://github.com/juanscelyg)
+
+## License
+
+This project is licensed under the BSD 3-clause License - see the [LICENSE](https://github.com/IntelligentRoboticsLabs/go2_robot/blob/humble/LICENSE) file for details.

go2_bringup/CMakeLists.txt

@@ -0,0 +1,22 @@
+cmake_minimum_required(VERSION 3.8)
+project(go2_bringup)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

go2_bringup/launch/go2.launch.py

@@ -0,0 +1,107 @@
+# BSD 3-Clause License
+
+# Copyright (c) 2024, Intelligent Robotics Lab
+# All rights reserved.
+
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+
+# * Redistributions of source code must retain the above copyright notice, this
+#   list of conditions and the following disclaimer.
+
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+
+# * Neither the name of the copyright holder nor the names of its
+#   contributors may be used to endorse or promote products derived from
+#   this software without specific prior written permission.
+
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.conditions import IfCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PythonExpression
+
+
+def generate_launch_description():
+    lidar = LaunchConfiguration('lidar')
+    realsense = LaunchConfiguration('realsense')
+    rviz = LaunchConfiguration('rviz')
+
+    declare_lidar_cmd = DeclareLaunchArgument(
+        'lidar',
+        default_value='False',
+        description='Launch hesai lidar driver'
+    )
+
+    declare_realsense_cmd = DeclareLaunchArgument(
+        'realsense',
+        default_value='False',
+        description='Launch realsense driver'
+    )
+
+    declare_rviz_cmd = DeclareLaunchArgument(
+        'rviz',
+        default_value='False',
+        description='Launch rviz'
+    )
+
+    robot_description_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([os.path.join(
+            get_package_share_directory('go2_description'),
+            'launch/'), 'robot.launch.py'])
+    )
+
+    driver_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([os.path.join(
+            get_package_share_directory('go2_driver'),
+            'launch/'), 'go2_driver.launch.py'])
+    )
+
+    lidar_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([os.path.join(
+            get_package_share_directory('hesai_ros_driver'),
+            'launch/'), 'start.py']),
+        condition=IfCondition(PythonExpression([lidar]))
+    )
+
+    realsense_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([os.path.join(
+            get_package_share_directory('realsense2_camera'),
+            'launch/'), 'rs_launch.py']),
+        condition=IfCondition(PythonExpression([realsense]))
+    )
+
+    rviz_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([os.path.join(
+            get_package_share_directory('go2_rviz'),
+            'launch/'), 'rviz.launch.py']),
+        condition=IfCondition(PythonExpression([rviz]))
+    )
+
+    ld = LaunchDescription()
+    ld.add_action(declare_lidar_cmd)
+    ld.add_action(declare_realsense_cmd)
+    ld.add_action(declare_rviz_cmd)
+    ld.add_action(robot_description_cmd)
+    ld.add_action(lidar_cmd)
+    ld.add_action(realsense_cmd)
+    ld.add_action(driver_cmd)
+    ld.add_action(rviz_cmd)
+
+    return ld