refer to A1-QP-MPC-Controller https://github.com/ShuoYangRobotics/A1-QP-MPC-Controller.git

robot frame is target on relative movement

world frame is target on whole movement

状态估计部分参考mit源码 https://blog.csdn.net/Everlasting_Aa/article/details/120920668

pd控制与轨迹规划部分参考 https://blog.csdn.net/weixin_45728705/article/details/120817881

x -> roll y -> pitch z -> yaw

dependence

• ubuntu 18.04
• unitree_legged_sdk v3.8.0
• unitree_ros
• ros melodic

# ros install
wget http://fishros.com/install -O fishros && . fishros

详细配置见setup

配置完以上依赖后在~/.bashrc最后添加

# Go1 gazebo
source /usr/share/gazebo-9/setup.sh
export UNITREE_LEGGED_SDK_PATH=path-to/unitree_legged_sdk
#amd64, arm32, arm64
export UNITREE_PLATFORM="amd64"

安装 假设workspace是在~/go1_ws下

sudo apt-get install ros-melodic-controller-interface  ros-melodic-gazebo-ros-control ros-melodic-joint-state-controller ros-melodic-effort-controllers ros-melodic-joint-trajectory-controller

cd go1_ws/src
git clone https://github.com/120090162/unitree_ros.git
git clone https://github.com/120090162/go1_mpc_control.git
git clone https://github.com/120090162/keyboard_input.git

# compile
cd ~/go1_ws
catkin_make
catkin_make # 避免虚拟机核数不够部分编译不过

编译完成后在~/.bashrc最后添加

source ~/go1_ws/devel/setup.bash
export ROS_PACKAGE_PATH=~/go1_ws:${ROS_PACKAGE_PATH}
export GAZEBO_PLUGIN_PATH=~/go1_ws/devel/lib:${GAZEBO_PLUGIN_PATH}
export LD_LIBRARY_PATH=~/go1_ws/devel/lib:${LD_LIBRARY_PATH}

如果你只想编译一个包

catkin_make --only-pkg-with-deps go1_mpc_control

如果你想编译整个工作空间

catkin_make -DCATKIN_WHITELIST_PACKAGES=""

运行

# run gazebo
roslaunch unitree_gazebo normal.launch rname:=go1 wname:=earth
# reset robot
rosrun unitree_controller unitree_servo  # let the robot stretch legs
rosrun unitree_controller unitree_move_kinetic # place the robot back to origin
# 启动键盘控制
rosrun keyboard_input keyboard_input_node
# run mpc control
roslaunch go1_mpc_control go1_ctrl.launch type:=gazebo solver_type:=mpc

其中键盘的 f 键用来切换 stand/tort 步态，详细的控制看 keyboard_input 的代码

问题：

Q: VMware虚拟机运行gazebo仿真会报类似VMware: vmw_ ioctl_command error Invalid argument.

A: ~/.bashrc结尾加入export SVGA_VGPU10=0.