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Adding Go2 #23

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Adding Go2 #23

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9cd7c6b
Add go2
MarcuSpade Apr 11, 2024
a2117ee
mod install_descriptions add go2
MarcuSpade Apr 11, 2024
14214c1
add go2_velodyne
MarcuSpade Apr 19, 2024
3688faf
change gains on control yaml
MarcuSpade Apr 19, 2024
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6 changes: 6 additions & 0 deletions configs/go2_config/CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(go2_config)

find_package(catkin REQUIRED COMPONENTS)

catkin_package()
77 changes: 77 additions & 0 deletions configs/go2_config/README.md
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## 1. Quick Start

You don't need a physical robot to run the following demos.

### 1.1. Walking demo in RVIZ:

#### 1.1.1. Run the base driver:

roslaunch go2_config bringup.launch rviz:=true

#### 1.1.2. Run the teleop node:

roslaunch champ_teleop teleop.launch

If you want to use a [joystick](https://www.logitechg.com/en-hk/products/gamepads/f710-wireless-gamepad.html) add joy:=true as an argument.


### 1.2. SLAM demo:

#### 1.2.1. Run the Gazebo environment:

roslaunch go2_config gazebo.launch

#### 1.2.2. Run gmapping package and move_base:

roslaunch go2_config slam.launch rviz:=true

To start mapping:

- Click '2D Nav Goal'.
- Click and drag at the position you want the robot to go.

![champ](https://raw.githubusercontent.com/chvmp/champ/master/docs/images/slam.gif)

- Save the map by running:

roscd go2_config/maps
rosrun map_server map_saver

### 1.3. Autonomous Navigation:

#### 1.3.1. Run the Gazebo environment:

roslaunch go2_config gazebo.launch

#### 1.3.2. Run amcl and move_base:

roslaunch go2_config navigate.launch rviz:=true

To navigate:

- Click '2D Nav Goal'.
- Click and drag at the position you want the robot to go.

![champ](https://raw.githubusercontent.com/chvmp/champ/master/docs/images/navigation.gif)

#### 1.4.1 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 go2_config spawn_robot.launch robot_name:=<unique_robot_name> world_init_x:=<x_position> world_init_y:=<y_position>


* Every instance of the spawned robot must have a unique robot name to prevent the topics and transforms from clashing.


---
:exclamation: *This is not an official product from the robot's company/author.*
211 changes: 211 additions & 0 deletions configs/go2_config/config.json
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{
"robot_name": "go2",
"default_urdf": "False",
"urdf_path": "$(find go2_description)/xacro/go2_generated.urdf",
"links": {
"base": "base",
"left_front": [
"FL_hip",
"FL_thigh",
"FL_calf",
"FL_foot"
],
"right_front": [
"FR_hip",
"FR_thigh",
"FR_calf",
"FR_foot"
],
"left_hind": [
"RL_hip",
"RL_thigh",
"RL_calf",
"RL_foot"
],
"right_hind": [
"RR_hip",
"RR_thigh",
"RR_calf",
"RR_foot"
]
},
"joints": {
"left_front": [
"FL_hip_joint",
"FL_thigh_joint",
"FL_calf_joint",
"FL_foot_fixed"
],
"right_front": [
"FR_hip_joint",
"FR_thigh_joint",
"FR_calf_joint",
"FR_foot_fixed"
],
"left_hind": [
"RL_hip_joint",
"RL_thigh_joint",
"RL_calf_joint",
"RL_foot_fixed"
],
"right_hind": [
"RR_hip_joint",
"RR_thigh_joint",
"RR_calf_joint",
"RR_foot_fixed"
]
},
"firmware": {
"transforms": {
"left_front": {
"hip": [
0.1934,
0.0465,
0.0,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0,
0.0955,
-0.0,
0.0,
0.0,
0.0
],
"lower_leg": [
0.0,
0.0,
-0.213,
0.0,
0.0,
0.0
],
"foot": [
0.0,
0.0,
-0.213,
0.0,
0.0,
0.0
]
},
"right_front": {
"hip": [
0.1934,
-0.0465,
0.0,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0,
-0.0955,
-0.0,
0.0,
0.0,
0.0
],
"lower_leg": [
0.0,
0.0,
-0.213,
0.0,
0.0,
0.0
],
"foot": [
0.0,
0.0,
-0.213,
0.0,
0.0,
0.0
]
},
"left_hind": {
"hip": [
-0.1934,
0.0465,
0.0,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0,
0.0955,
-0.0,
0.0,
0.0,
0.0
],
"lower_leg": [
0.0,
0.0,
-0.213,
0.0,
0.0,
0.0
],
"foot": [
0.0,
0.0,
-0.213,
0.0,
0.0,
0.0
]
},
"right_hind": {
"hip": [
-0.1934,
-0.0465,
0.0,
0.0,
0.0,
0.0
],
"upper_leg": [
0.0,
-0.0955,
-0.0,
0.0,
0.0,
0.0
],
"lower_leg": [
0.0,
0.0,
-0.213,
0.0,
0.0,
0.0
],
"foot": [
0.0,
0.0,
-0.213,
0.0,
0.0,
0.0
]
}
},
"gait": {
"knee_orientation": ">>",
"odom_scaler": 1.0,
"max_linear_vel_x": 0.5,
"max_linear_vel_y": 0.25,
"max_angular_vel_z": 1.0,
"stance_duration": 0.25,
"com_x_translation": 0.0,
"swing_height": 0.04,
"stance_depth": 0.0,
"nominal_height": 0.2,
"pantograph_leg": "false"
}
}
}
11 changes: 11 additions & 0 deletions configs/go2_config/config/gait/gait.yaml
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knee_orientation : ">>"
pantograph_leg : false
odom_scaler: 1.0
max_linear_velocity_x : 0.5
max_linear_velocity_y : 0.25
max_angular_velocity_z : 1.0
com_x_translation : 0.0
swing_height : 0.04
stance_depth : 0.0
stance_duration : 0.25
nominal_height : 0.2
23 changes: 23 additions & 0 deletions configs/go2_config/config/joints/joints.yaml
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left_front:
- FL_hip_joint
- FL_thigh_joint
- FL_calf_joint
- FL_foot_fixed

right_front:
- FR_hip_joint
- FR_thigh_joint
- FR_calf_joint
- FR_foot_fixed

left_hind:
- RL_hip_joint
- RL_thigh_joint
- RL_calf_joint
- RL_foot_fixed

right_hind:
- RR_hip_joint
- RR_thigh_joint
- RR_calf_joint
- RR_foot_fixed
24 changes: 24 additions & 0 deletions configs/go2_config/config/links/links.yaml
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base: base
left_front:
- FL_hip
- FL_thigh
- FL_calf
- FL_foot

right_front:
- FR_hip
- FR_thigh
- FR_calf
- FR_foot

left_hind:
- RL_hip
- RL_thigh
- RL_calf
- RL_foot

right_hind:
- RR_hip
- RR_thigh
- RR_calf
- RR_foot
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