初始化项目，包含fast_lio_ws和unitree_sdk2
This commit is contained in:
128
unitree_sdk2/example/r1/low_level/gamepad.hpp
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128
unitree_sdk2/example/r1/low_level/gamepad.hpp
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#pragma once
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#include <cmath>
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namespace unitree::common
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{
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// bytecode mapping for raw joystick data
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// 16b
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typedef union
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{
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struct
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{
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uint8_t R1 : 1;
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uint8_t L1 : 1;
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uint8_t start : 1;
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uint8_t select : 1;
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uint8_t R2 : 1;
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uint8_t L2 : 1;
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uint8_t F1 : 1;
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uint8_t F2 : 1;
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uint8_t A : 1;
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uint8_t B : 1;
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uint8_t X : 1;
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uint8_t Y : 1;
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uint8_t up : 1;
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uint8_t right : 1;
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uint8_t down : 1;
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uint8_t left : 1;
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} components;
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uint16_t value;
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} xKeySwitchUnion;
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// 40 Byte (now used 24B)
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typedef struct
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{
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uint8_t head[2];
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xKeySwitchUnion btn;
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float lx;
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float rx;
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float ry;
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float L2;
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float ly;
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uint8_t idle[16];
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} xRockerBtnDataStruct;
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typedef union
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{
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xRockerBtnDataStruct RF_RX;
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uint8_t buff[40];
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} REMOTE_DATA_RX;
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class Button
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{
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public:
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Button() {}
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void update(bool state)
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{
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on_press = state ? state != pressed : false;
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on_release = state ? false : state != pressed;
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pressed = state;
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}
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bool pressed = false;
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bool on_press = false;
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bool on_release = false;
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};
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class Gamepad
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{
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public:
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Gamepad() {}
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void update(xRockerBtnDataStruct &key_data)
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{
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lx = lx * (1 - smooth) + (std::fabs(key_data.lx) < dead_zone ? 0.0 : key_data.lx) * smooth;
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rx = rx * (1 - smooth) + (std::fabs(key_data.rx) < dead_zone ? 0.0 : key_data.rx) * smooth;
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ry = ry * (1 - smooth) + (std::fabs(key_data.ry) < dead_zone ? 0.0 : key_data.ry) * smooth;
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l2 = l2 * (1 - smooth) + (std::fabs(key_data.L2) < dead_zone ? 0.0 : key_data.L2) * smooth;
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ly = ly * (1 - smooth) + (std::fabs(key_data.ly) < dead_zone ? 0.0 : key_data.ly) * smooth;
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R1.update(key_data.btn.components.R1);
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L1.update(key_data.btn.components.L1);
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start.update(key_data.btn.components.start);
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select.update(key_data.btn.components.select);
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R2.update(key_data.btn.components.R2);
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L2.update(key_data.btn.components.L2);
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F1.update(key_data.btn.components.F1);
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F2.update(key_data.btn.components.F2);
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A.update(key_data.btn.components.A);
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B.update(key_data.btn.components.B);
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X.update(key_data.btn.components.X);
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Y.update(key_data.btn.components.Y);
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up.update(key_data.btn.components.up);
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right.update(key_data.btn.components.right);
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down.update(key_data.btn.components.down);
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left.update(key_data.btn.components.left);
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}
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float lx = 0.;
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float rx = 0.;
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float ry = 0.;
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float l2 = 0.;
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float ly = 0.;
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float smooth = 0.03;
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float dead_zone = 0.01;
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Button R1;
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Button L1;
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Button start;
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Button select;
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Button R2;
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Button L2;
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Button F1;
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Button F2;
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Button A;
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Button B;
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Button X;
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Button Y;
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Button up;
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Button right;
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Button down;
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Button left;
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};
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} // namespace unitree::common
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336
unitree_sdk2/example/r1/low_level/r1A_wrist_swing_example.cpp
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336
unitree_sdk2/example/r1/low_level/r1A_wrist_swing_example.cpp
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@@ -0,0 +1,336 @@
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#include <cmath>
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#include <memory>
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#include <mutex>
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#include <shared_mutex>
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#include <array>
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#include <algorithm>
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#include "gamepad.hpp"
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// DDS
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#include <unitree/robot/channel/channel_publisher.hpp>
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#include <unitree/robot/channel/channel_subscriber.hpp>
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// IDL
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#include <unitree/idl/hg/IMUState_.hpp>
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#include <unitree/idl/hg/LowCmd_.hpp>
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#include <unitree/idl/hg/LowState_.hpp>
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#include <unitree/robot/b2/motion_switcher/motion_switcher_client.hpp>
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static const std::string HG_CMD_TOPIC = "rt/lowcmd";
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static const std::string HG_IMU_TORSO = "rt/secondary_imu";
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static const std::string HG_STATE_TOPIC = "rt/lowstate";
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using namespace unitree::common;
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using namespace unitree::robot;
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using namespace unitree_hg::msg::dds_;
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template <typename T>
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class DataBuffer {
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public:
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void SetData(const T &newData) {
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std::unique_lock<std::shared_mutex> lock(mutex);
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data = std::make_shared<T>(newData);
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}
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std::shared_ptr<const T> GetData() {
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std::shared_lock<std::shared_mutex> lock(mutex);
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return data ? data : nullptr;
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}
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void Clear() {
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std::unique_lock<std::shared_mutex> lock(mutex);
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data = nullptr;
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}
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private:
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std::shared_ptr<T> data;
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std::shared_mutex mutex;
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};
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const int R1Z_NUM_MOTOR = 12;
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struct ImuState {
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std::array<float, 3> rpy = {};
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std::array<float, 3> omega = {};
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};
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struct MotorCommand {
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std::array<float, R1Z_NUM_MOTOR> q_target = {};
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std::array<float, R1Z_NUM_MOTOR> dq_target = {};
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std::array<float, R1Z_NUM_MOTOR> kp = {};
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std::array<float, R1Z_NUM_MOTOR> kd = {};
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std::array<float, R1Z_NUM_MOTOR> tau_ff = {};
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};
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struct MotorState {
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std::array<float, R1Z_NUM_MOTOR> q = {};
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std::array<float, R1Z_NUM_MOTOR> dq = {};
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};
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// Stiffness for all R1Z joints
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std::array<float, R1Z_NUM_MOTOR> Kp{
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100, 100, 100, 100, 50, // left arm
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100, 100, 100, 100, 50, // right arm
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50, 10 // head
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};
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// Damping for all R1Z joints
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std::array<float, R1Z_NUM_MOTOR> Kd{
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2, 2, 2, 2, 2, // left arm
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2, 2, 2, 2, 2, // right arm
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2, 0.1 // head
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};
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enum R1JointIndex {
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LeftShoulderPitch = 0,
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LeftShoulderRoll = 1,
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LeftShoulderYaw = 2,
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LeftElbow = 3,
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LeftWristRoll = 4,
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RightShoulderPitch = 5,
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RightShoulderRoll = 6,
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RightShoulderYaw = 7,
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RightElbow = 8,
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RightWristRoll = 9,
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HEAD_PITCH = 10,
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HEAD_YAW = 11,
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};
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std::array<int, R1Z_NUM_MOTOR> joint_idx_in_idl{
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15, 16, 17, 18, 19,
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22, 23, 24, 25, 26,
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29, 30
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};
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inline uint32_t Crc32Core(uint32_t *ptr, uint32_t len) {
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uint32_t xbit = 0;
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uint32_t data = 0;
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uint32_t CRC32 = 0xFFFFFFFF;
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const uint32_t dwPolynomial = 0x04c11db7;
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for (uint32_t i = 0; i < len; i++) {
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xbit = 1 << 31;
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data = ptr[i];
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for (uint32_t bits = 0; bits < 32; bits++) {
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if (CRC32 & 0x80000000) {
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CRC32 <<= 1;
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CRC32 ^= dwPolynomial;
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} else
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CRC32 <<= 1;
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if (data & xbit) CRC32 ^= dwPolynomial;
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xbit >>= 1;
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}
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}
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return CRC32;
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};
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class R1Example {
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private:
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double time_;
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double control_dt_; // [2ms]
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double duration_; // [2 s]
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int counter_;
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uint8_t mode_pr_;
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uint8_t mode_machine_;
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Gamepad gamepad_;
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REMOTE_DATA_RX rx_;
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DataBuffer<MotorState> motor_state_buffer_;
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DataBuffer<MotorCommand> motor_command_buffer_;
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DataBuffer<ImuState> imu_state_buffer_;
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ChannelPublisherPtr<LowCmd_> lowcmd_publisher_;
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ChannelSubscriberPtr<LowState_> lowstate_subscriber_;
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ChannelSubscriberPtr<IMUState_> imutorso_subscriber_;
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ThreadPtr command_writer_ptr_, control_thread_ptr_;
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std::shared_ptr<unitree::robot::b2::MotionSwitcherClient> msc_;
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public:
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R1Example(std::string networkInterface)
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: time_(0.0),
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control_dt_(0.002),
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duration_(2.0),
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counter_(0),
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mode_pr_(0),
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mode_machine_(0) {
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ChannelFactory::Instance()->Init(0, networkInterface);
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// try to shutdown motion control-related service
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msc_ = std::make_shared<unitree::robot::b2::MotionSwitcherClient>();
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msc_->SetTimeout(5.0f);
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msc_->Init();
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std::string form, name;
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while (msc_->CheckMode(form, name), !name.empty()) {
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if (msc_->ReleaseMode())
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std::cout << "Failed to switch to Release Mode\n";
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sleep(5);
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}
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// create publisher
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lowcmd_publisher_.reset(new ChannelPublisher<LowCmd_>(HG_CMD_TOPIC));
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lowcmd_publisher_->InitChannel();
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// create subscriber
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lowstate_subscriber_.reset(new ChannelSubscriber<LowState_>(HG_STATE_TOPIC));
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lowstate_subscriber_->InitChannel(std::bind(&R1Example::LowStateHandler, this, std::placeholders::_1), 1);
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imutorso_subscriber_.reset(new ChannelSubscriber<IMUState_>(HG_IMU_TORSO));
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imutorso_subscriber_->InitChannel(std::bind(&R1Example::imuTorsoHandler, this, std::placeholders::_1), 1);
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// create threads
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command_writer_ptr_ = CreateRecurrentThreadEx("command_writer", UT_CPU_ID_NONE, 2000, &R1Example::LowCommandWriter, this);
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control_thread_ptr_ = CreateRecurrentThreadEx("control", UT_CPU_ID_NONE, 2000, &R1Example::Control, this);
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}
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void imuTorsoHandler(const void *message) {
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IMUState_ imu_torso = *(const IMUState_ *)message;
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auto &rpy = imu_torso.rpy();
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if (counter_ % 500 == 0)
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printf("IMU.torso.rpy: %.2f %.2f %.2f\n", rpy[0], rpy[1], rpy[2]);
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}
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void LowStateHandler(const void *message) {
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LowState_ low_state = *(const LowState_ *)message;
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if (low_state.crc() != Crc32Core((uint32_t *)&low_state, (sizeof(LowState_) >> 2) - 1)) {
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std::cout << "[ERROR] CRC Error" << std::endl;
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return;
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}
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// get motor state
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MotorState ms_tmp;
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for (int i = 0; i < R1Z_NUM_MOTOR; ++i) {
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int idl_index = joint_idx_in_idl[i];
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ms_tmp.q.at(i) = low_state.motor_state()[idl_index].q();
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ms_tmp.dq.at(i) = low_state.motor_state()[idl_index].dq();
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if (low_state.motor_state()[idl_index].motorstate())
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std::cout << "[ERROR] motor " << idl_index << " with code " << low_state.motor_state()[idl_index].motorstate() << "\n";
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}
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motor_state_buffer_.SetData(ms_tmp);
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// get imu state
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ImuState imu_tmp;
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imu_tmp.omega = low_state.imu_state().gyroscope();
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imu_tmp.rpy = low_state.imu_state().rpy();
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imu_state_buffer_.SetData(imu_tmp);
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// update gamepad
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memcpy(rx_.buff, &low_state.wireless_remote()[0], 40);
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gamepad_.update(rx_.RF_RX);
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// update mode machine
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if (mode_machine_ != low_state.mode_machine()) {
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if (mode_machine_ == 0) std::cout << "R1 type: " << unsigned(low_state.mode_machine()) << std::endl;
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mode_machine_ = low_state.mode_machine();
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}
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// report robot status every second
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if (++counter_ % 500 == 0) {
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counter_ = 0;
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// IMU
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auto &rpy = low_state.imu_state().rpy();
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printf("IMU.pelvis.rpy: %.2f %.2f %.2f\n", rpy[0], rpy[1], rpy[2]);
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// RC
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printf("gamepad_.A.pressed: %d\n", static_cast<int>(gamepad_.A.pressed));
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printf("gamepad_.B.pressed: %d\n", static_cast<int>(gamepad_.B.pressed));
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printf("gamepad_.X.pressed: %d\n", static_cast<int>(gamepad_.X.pressed));
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printf("gamepad_.Y.pressed: %d\n", static_cast<int>(gamepad_.Y.pressed));
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// Motor
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auto &ms = low_state.motor_state();
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printf("All %d Motors:", R1Z_NUM_MOTOR);
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printf("\nmode: ");
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for (int i = 0; i < R1Z_NUM_MOTOR; ++i) printf("%u,", ms[joint_idx_in_idl[i]].mode());
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printf("\npos: ");
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for (int i = 0; i < R1Z_NUM_MOTOR; ++i) printf("%.2f,", ms[joint_idx_in_idl[i]].q());
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printf("\nvel: ");
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for (int i = 0; i < R1Z_NUM_MOTOR; ++i) printf("%.2f,", ms[joint_idx_in_idl[i]].dq());
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printf("\ntau_est: ");
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for (int i = 0; i < R1Z_NUM_MOTOR; ++i) printf("%.2f,", ms[joint_idx_in_idl[i]].tau_est());
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printf("\ntemperature: ");
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for (int i = 0; i < R1Z_NUM_MOTOR; ++i) printf("%d,%d;", ms[joint_idx_in_idl[i]].temperature()[0], ms[joint_idx_in_idl[i]].temperature()[1]);
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printf("\nvol: ");
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for (int i = 0; i < R1Z_NUM_MOTOR; ++i) printf("%.2f,", ms[joint_idx_in_idl[i]].vol());
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printf("\nsensor: ");
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for (int i = 0; i < R1Z_NUM_MOTOR; ++i) printf("%u,%u;", ms[joint_idx_in_idl[i]].sensor()[0], ms[joint_idx_in_idl[i]].sensor()[1]);
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printf("\nmotorstate: ");
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for (int i = 0; i < R1Z_NUM_MOTOR; ++i) printf("%u,", ms[joint_idx_in_idl[i]].motorstate());
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printf("\nreserve: ");
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for (int i = 0; i < R1Z_NUM_MOTOR; ++i) printf("%u,%u,%u,%u;", ms[joint_idx_in_idl[i]].reserve()[0], ms[joint_idx_in_idl[i]].reserve()[1], ms[joint_idx_in_idl[i]].reserve()[2], ms[joint_idx_in_idl[i]].reserve()[3]);
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printf("\n");
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}
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}
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void LowCommandWriter() {
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LowCmd_ dds_low_command;
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dds_low_command.mode_pr() = mode_pr_;
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dds_low_command.mode_machine() = mode_machine_;
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const std::shared_ptr<const MotorCommand> mc = motor_command_buffer_.GetData();
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if (mc) {
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for (int i = 0; i < R1Z_NUM_MOTOR; i++) {
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int idl_index = joint_idx_in_idl[i];
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dds_low_command.motor_cmd().at(idl_index).mode() = 1; // 1:Enable, 0:Disable
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dds_low_command.motor_cmd().at(idl_index).tau() = mc->tau_ff.at(i);
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dds_low_command.motor_cmd().at(idl_index).q() = mc->q_target.at(i);
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dds_low_command.motor_cmd().at(idl_index).dq() = mc->dq_target.at(i);
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dds_low_command.motor_cmd().at(idl_index).kp() = mc->kp.at(i);
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dds_low_command.motor_cmd().at(idl_index).kd() = mc->kd.at(i);
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}
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dds_low_command.crc() = Crc32Core((uint32_t *)&dds_low_command, (sizeof(dds_low_command) >> 2) - 1);
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lowcmd_publisher_->Write(dds_low_command);
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}
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}
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void Control() {
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MotorCommand motor_command_tmp;
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const std::shared_ptr<const MotorState> ms = motor_state_buffer_.GetData();
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for (int i = 0; i < R1Z_NUM_MOTOR; ++i) {
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motor_command_tmp.tau_ff.at(i) = 0.0;
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motor_command_tmp.q_target.at(i) = 0.0;
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motor_command_tmp.dq_target.at(i) = 0.0;
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motor_command_tmp.kp.at(i) = Kp[i];
|
||||
motor_command_tmp.kd.at(i) = Kd[i];
|
||||
}
|
||||
|
||||
if (ms) {
|
||||
time_ += control_dt_;
|
||||
if (time_ < duration_) {
|
||||
// [Stage 1]: set r1z arms and head to zero posture
|
||||
double ratio = std::clamp(time_ / duration_, 0.0, 1.0);
|
||||
for (int i = 0; i < R1Z_NUM_MOTOR; ++i) {
|
||||
motor_command_tmp.q_target.at(i) = (1.0 - ratio) * ms->q.at(i);
|
||||
}
|
||||
} else {
|
||||
const double t = std::fmod(time_ - duration_, duration_ * 2.0);
|
||||
mode_pr_ = 0;
|
||||
|
||||
if (t < duration_) {
|
||||
// [Stage 2]: swing wrist roll joints for 2 s
|
||||
double max_wrist_roll = M_PI * 30.0 / 180.0;
|
||||
double wrist_roll_des = max_wrist_roll * std::sin(2.0 * M_PI * t / duration_);
|
||||
|
||||
motor_command_tmp.q_target.at(LeftWristRoll) = wrist_roll_des;
|
||||
motor_command_tmp.q_target.at(RightWristRoll) = -wrist_roll_des;
|
||||
} else {
|
||||
// [Stage 3]: swing head pitch and yaw joints for 2 s
|
||||
double head_t = t - duration_;
|
||||
double max_head_yaw = M_PI * 30.0 / 180.0;
|
||||
motor_command_tmp.q_target.at(HEAD_YAW) = max_head_yaw * std::sin(2.0 * M_PI * head_t / duration_);
|
||||
}
|
||||
}
|
||||
|
||||
motor_command_buffer_.SetData(motor_command_tmp);
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
int main(int argc, char const *argv[]) {
|
||||
if (argc < 2) {
|
||||
std::cout << "Usage: r1A_wrist_swing_example network_interface" << std::endl;
|
||||
exit(0);
|
||||
}
|
||||
std::string networkInterface = argv[1];
|
||||
R1Example custom(networkInterface);
|
||||
while (true) sleep(10);
|
||||
return 0;
|
||||
}
|
||||
378
unitree_sdk2/example/r1/low_level/r1_ankle_swing_example.cpp
Normal file
378
unitree_sdk2/example/r1/low_level/r1_ankle_swing_example.cpp
Normal file
@@ -0,0 +1,378 @@
|
||||
#include <cmath>
|
||||
#include <memory>
|
||||
#include <mutex>
|
||||
#include <shared_mutex>
|
||||
|
||||
#include "gamepad.hpp"
|
||||
|
||||
// DDS
|
||||
#include <unitree/robot/channel/channel_publisher.hpp>
|
||||
#include <unitree/robot/channel/channel_subscriber.hpp>
|
||||
|
||||
// IDL
|
||||
#include <unitree/idl/hg/IMUState_.hpp>
|
||||
#include <unitree/idl/hg/LowCmd_.hpp>
|
||||
#include <unitree/idl/hg/LowState_.hpp>
|
||||
#include <unitree/robot/b2/motion_switcher/motion_switcher_client.hpp>
|
||||
|
||||
static const std::string HG_CMD_TOPIC = "rt/lowcmd";
|
||||
static const std::string HG_IMU_TORSO = "rt/secondary_imu";
|
||||
static const std::string HG_STATE_TOPIC = "rt/lowstate";
|
||||
|
||||
using namespace unitree::common;
|
||||
using namespace unitree::robot;
|
||||
using namespace unitree_hg::msg::dds_;
|
||||
|
||||
template <typename T>
|
||||
class DataBuffer {
|
||||
public:
|
||||
void SetData(const T &newData) {
|
||||
std::unique_lock<std::shared_mutex> lock(mutex);
|
||||
data = std::make_shared<T>(newData);
|
||||
}
|
||||
|
||||
std::shared_ptr<const T> GetData() {
|
||||
std::shared_lock<std::shared_mutex> lock(mutex);
|
||||
return data ? data : nullptr;
|
||||
}
|
||||
|
||||
void Clear() {
|
||||
std::unique_lock<std::shared_mutex> lock(mutex);
|
||||
data = nullptr;
|
||||
}
|
||||
|
||||
private:
|
||||
std::shared_ptr<T> data;
|
||||
std::shared_mutex mutex;
|
||||
};
|
||||
|
||||
const int R1_NUM_MOTOR = 26;
|
||||
struct ImuState {
|
||||
std::array<float, 3> rpy = {};
|
||||
std::array<float, 3> omega = {};
|
||||
};
|
||||
struct MotorCommand {
|
||||
std::array<float, R1_NUM_MOTOR> q_target = {};
|
||||
std::array<float, R1_NUM_MOTOR> dq_target = {};
|
||||
std::array<float, R1_NUM_MOTOR> kp = {};
|
||||
std::array<float, R1_NUM_MOTOR> kd = {};
|
||||
std::array<float, R1_NUM_MOTOR> tau_ff = {};
|
||||
};
|
||||
struct MotorState {
|
||||
std::array<float, R1_NUM_MOTOR> q = {};
|
||||
std::array<float, R1_NUM_MOTOR> dq = {};
|
||||
};
|
||||
|
||||
// Stiffness for all R1 Joints
|
||||
std::array<float, R1_NUM_MOTOR> Kp{
|
||||
200, 200, 200, 200, 200, 200, // legs
|
||||
200, 200, 200, 200, 200, 200, // legs
|
||||
300, 300, // waist
|
||||
100, 100, 100, 100, 50, // arms
|
||||
100, 100, 100, 100, 50, // arms
|
||||
50, 10 // head
|
||||
};
|
||||
|
||||
// Damping for all R1 Joints
|
||||
std::array<float, R1_NUM_MOTOR> Kd{
|
||||
3, 3, 3, 3, 3, 3, // legs
|
||||
3, 3, 3, 3, 3, 3, // legs
|
||||
5, 5, // waist
|
||||
2, 2, 2, 2, 2, // arms
|
||||
2, 2, 2, 2, 2, // arms
|
||||
2, 0.1 // head
|
||||
};
|
||||
|
||||
std::array<float, R1_NUM_MOTOR> joint_idx_in_idl{
|
||||
0, 1, 2, 3, 4, 5,
|
||||
6, 7, 8, 9, 10, 11,
|
||||
12, 13,
|
||||
15, 16, 17, 18, 19,
|
||||
22, 23, 24, 25, 26,
|
||||
29, 30
|
||||
};
|
||||
|
||||
enum class Mode {
|
||||
PR = 0, // Series Control for Ptich/Roll Joints
|
||||
AB = 1 // Parallel Control for A/B Joints
|
||||
};
|
||||
|
||||
enum R1JointIndex {
|
||||
LeftHipPitch = 0,
|
||||
LeftHipRoll = 1,
|
||||
LeftHipYaw = 2,
|
||||
LeftKnee = 3,
|
||||
LeftAnklePitch = 4,
|
||||
LeftAnkleB = 4,
|
||||
LeftAnkleRoll = 5,
|
||||
LeftAnkleA = 5,
|
||||
RightHipPitch = 6,
|
||||
RightHipRoll = 7,
|
||||
RightHipYaw = 8,
|
||||
RightKnee = 9,
|
||||
RightAnklePitch = 10,
|
||||
RightAnkleB = 10,
|
||||
RightAnkleRoll = 11,
|
||||
RightAnkleA = 11,
|
||||
WaistRoll = 12,
|
||||
WaistYaw = 13,
|
||||
LeftShoulderPitch = 14,
|
||||
LeftShoulderRoll = 15,
|
||||
LeftShoulderYaw = 16,
|
||||
LeftElbow = 17,
|
||||
LeftWristRoll = 18,
|
||||
RightShoulderPitch = 19,
|
||||
RightShoulderRoll = 20,
|
||||
RightShoulderYaw = 21,
|
||||
RightElbow = 22,
|
||||
RightWristRoll = 23,
|
||||
HEAD_PITCH = 24,
|
||||
HEAD_YAW = 25,
|
||||
};
|
||||
|
||||
|
||||
inline uint32_t Crc32Core(uint32_t *ptr, uint32_t len) {
|
||||
uint32_t xbit = 0;
|
||||
uint32_t data = 0;
|
||||
uint32_t CRC32 = 0xFFFFFFFF;
|
||||
const uint32_t dwPolynomial = 0x04c11db7;
|
||||
for (uint32_t i = 0; i < len; i++) {
|
||||
xbit = 1 << 31;
|
||||
data = ptr[i];
|
||||
for (uint32_t bits = 0; bits < 32; bits++) {
|
||||
if (CRC32 & 0x80000000) {
|
||||
CRC32 <<= 1;
|
||||
CRC32 ^= dwPolynomial;
|
||||
} else
|
||||
CRC32 <<= 1;
|
||||
if (data & xbit) CRC32 ^= dwPolynomial;
|
||||
|
||||
xbit >>= 1;
|
||||
}
|
||||
}
|
||||
return CRC32;
|
||||
};
|
||||
|
||||
class R1Example {
|
||||
private:
|
||||
double time_;
|
||||
double control_dt_; // [2ms]
|
||||
double duration_; // [3 s]
|
||||
int counter_;
|
||||
Mode mode_pr_;
|
||||
uint8_t mode_machine_;
|
||||
|
||||
Gamepad gamepad_;
|
||||
REMOTE_DATA_RX rx_;
|
||||
|
||||
DataBuffer<MotorState> motor_state_buffer_;
|
||||
DataBuffer<MotorCommand> motor_command_buffer_;
|
||||
DataBuffer<ImuState> imu_state_buffer_;
|
||||
|
||||
ChannelPublisherPtr<LowCmd_> lowcmd_publisher_;
|
||||
ChannelSubscriberPtr<LowState_> lowstate_subscriber_;
|
||||
ChannelSubscriberPtr<IMUState_> imutorso_subscriber_;
|
||||
ThreadPtr command_writer_ptr_, control_thread_ptr_;
|
||||
|
||||
std::shared_ptr<unitree::robot::b2::MotionSwitcherClient> msc_;
|
||||
|
||||
public:
|
||||
R1Example(std::string networkInterface)
|
||||
: time_(0.0),
|
||||
control_dt_(0.002),
|
||||
duration_(3.0),
|
||||
counter_(0),
|
||||
mode_pr_(Mode::PR),
|
||||
mode_machine_(0) {
|
||||
ChannelFactory::Instance()->Init(0, networkInterface);
|
||||
|
||||
// try to shutdown motion control-related service
|
||||
msc_ = std::make_shared<unitree::robot::b2::MotionSwitcherClient>();
|
||||
msc_->SetTimeout(5.0f);
|
||||
msc_->Init();
|
||||
std::string form, name;
|
||||
while (msc_->CheckMode(form, name), !name.empty()) {
|
||||
if (msc_->ReleaseMode())
|
||||
std::cout << "Failed to switch to Release Mode\n";
|
||||
sleep(5);
|
||||
}
|
||||
|
||||
// create publisher
|
||||
lowcmd_publisher_.reset(new ChannelPublisher<LowCmd_>(HG_CMD_TOPIC));
|
||||
lowcmd_publisher_->InitChannel();
|
||||
// create subscriber
|
||||
lowstate_subscriber_.reset(new ChannelSubscriber<LowState_>(HG_STATE_TOPIC));
|
||||
lowstate_subscriber_->InitChannel(std::bind(&R1Example::LowStateHandler, this, std::placeholders::_1), 1);
|
||||
imutorso_subscriber_.reset(new ChannelSubscriber<IMUState_>(HG_IMU_TORSO));
|
||||
imutorso_subscriber_->InitChannel(std::bind(&R1Example::imuTorsoHandler, this, std::placeholders::_1), 1);
|
||||
// create threads
|
||||
command_writer_ptr_ = CreateRecurrentThreadEx("command_writer", UT_CPU_ID_NONE, 2000, &R1Example::LowCommandWriter, this);
|
||||
control_thread_ptr_ = CreateRecurrentThreadEx("control", UT_CPU_ID_NONE, 2000, &R1Example::Control, this);
|
||||
}
|
||||
|
||||
void imuTorsoHandler(const void *message) {
|
||||
IMUState_ imu_torso = *(const IMUState_ *)message;
|
||||
auto &rpy = imu_torso.rpy();
|
||||
if (counter_ % 500 == 0)
|
||||
printf("IMU.torso.rpy: %.2f %.2f %.2f\n", rpy[0], rpy[1], rpy[2]);
|
||||
}
|
||||
|
||||
void LowStateHandler(const void *message) {
|
||||
LowState_ low_state = *(const LowState_ *)message;
|
||||
if (low_state.crc() != Crc32Core((uint32_t *)&low_state, (sizeof(LowState_) >> 2) - 1)) {
|
||||
std::cout << "[ERROR] CRC Error" << std::endl;
|
||||
return;
|
||||
}
|
||||
|
||||
// get motor state
|
||||
MotorState ms_tmp;
|
||||
for (int i = 0; i < R1_NUM_MOTOR; ++i) {
|
||||
ms_tmp.q.at(i) = low_state.motor_state()[joint_idx_in_idl[i]].q();
|
||||
ms_tmp.dq.at(i) = low_state.motor_state()[joint_idx_in_idl[i]].dq();
|
||||
if (low_state.motor_state()[joint_idx_in_idl[i]].motorstate() && joint_idx_in_idl[i] <= RightAnkleRoll)
|
||||
std::cout << "[ERROR] motor " << joint_idx_in_idl[i] << " with code " << low_state.motor_state()[joint_idx_in_idl[i]].motorstate() << "\n";
|
||||
}
|
||||
motor_state_buffer_.SetData(ms_tmp);
|
||||
|
||||
// get imu state
|
||||
ImuState imu_tmp;
|
||||
imu_tmp.omega = low_state.imu_state().gyroscope();
|
||||
imu_tmp.rpy = low_state.imu_state().rpy();
|
||||
imu_state_buffer_.SetData(imu_tmp);
|
||||
|
||||
// update gamepad
|
||||
memcpy(rx_.buff, &low_state.wireless_remote()[0], 40);
|
||||
gamepad_.update(rx_.RF_RX);
|
||||
|
||||
// update mode machine
|
||||
if (mode_machine_ != low_state.mode_machine()) {
|
||||
if (mode_machine_ == 0) std::cout << "R1 type: " << unsigned(low_state.mode_machine()) << std::endl;
|
||||
mode_machine_ = low_state.mode_machine();
|
||||
}
|
||||
|
||||
// report robot status every second
|
||||
if (++counter_ % 500 == 0) {
|
||||
counter_ = 0;
|
||||
// IMU
|
||||
auto &rpy = low_state.imu_state().rpy();
|
||||
printf("IMU.pelvis.rpy: %.2f %.2f %.2f\n", rpy[0], rpy[1], rpy[2]);
|
||||
|
||||
// RC
|
||||
printf("gamepad_.A.pressed: %d\n", static_cast<int>(gamepad_.A.pressed));
|
||||
printf("gamepad_.B.pressed: %d\n", static_cast<int>(gamepad_.B.pressed));
|
||||
printf("gamepad_.X.pressed: %d\n", static_cast<int>(gamepad_.X.pressed));
|
||||
printf("gamepad_.Y.pressed: %d\n", static_cast<int>(gamepad_.Y.pressed));
|
||||
|
||||
// Motor
|
||||
auto &ms = low_state.motor_state();
|
||||
printf("All %d Motors:", R1_NUM_MOTOR);
|
||||
printf("\nmode: ");
|
||||
for (int i = 0; i < R1_NUM_MOTOR; ++i) printf("%u,", ms[joint_idx_in_idl[i]].mode());
|
||||
printf("\npos: ");
|
||||
for (int i = 0; i < R1_NUM_MOTOR; ++i) printf("%.2f,", ms[joint_idx_in_idl[i]].q());
|
||||
printf("\nvel: ");
|
||||
for (int i = 0; i < R1_NUM_MOTOR; ++i) printf("%.2f,", ms[joint_idx_in_idl[i]].dq());
|
||||
printf("\ntau_est: ");
|
||||
for (int i = 0; i < R1_NUM_MOTOR; ++i) printf("%.2f,", ms[joint_idx_in_idl[i]].tau_est());
|
||||
printf("\ntemperature: ");
|
||||
for (int i = 0; i < R1_NUM_MOTOR; ++i) printf("%d,%d;", ms[joint_idx_in_idl[i]].temperature()[0], ms[joint_idx_in_idl[i]].temperature()[1]);
|
||||
printf("\nvol: ");
|
||||
for (int i = 0; i < R1_NUM_MOTOR; ++i) printf("%.2f,", ms[joint_idx_in_idl[i]].vol());
|
||||
printf("\nsensor: ");
|
||||
for (int i = 0; i < R1_NUM_MOTOR; ++i) printf("%u,%u;", ms[joint_idx_in_idl[i]].sensor()[0], ms[joint_idx_in_idl[i]].sensor()[1]);
|
||||
printf("\nmotorstate: ");
|
||||
for (int i = 0; i < R1_NUM_MOTOR; ++i) printf("%u,", ms[joint_idx_in_idl[i]].motorstate());
|
||||
printf("\nreserve: ");
|
||||
for (int i = 0; i < R1_NUM_MOTOR; ++i) printf("%u,%u,%u,%u;", ms[joint_idx_in_idl[i]].reserve()[0], ms[joint_idx_in_idl[i]].reserve()[1], ms[joint_idx_in_idl[i]].reserve()[2], ms[joint_idx_in_idl[i]].reserve()[3]);
|
||||
printf("\n");
|
||||
}
|
||||
}
|
||||
|
||||
void LowCommandWriter() {
|
||||
LowCmd_ dds_low_command;
|
||||
dds_low_command.mode_pr() = static_cast<uint8_t>(mode_pr_);
|
||||
dds_low_command.mode_machine() = mode_machine_;
|
||||
|
||||
const std::shared_ptr<const MotorCommand> mc = motor_command_buffer_.GetData();
|
||||
if (mc) {
|
||||
for (size_t i = 0; i < R1_NUM_MOTOR; i++) {
|
||||
dds_low_command.motor_cmd().at(joint_idx_in_idl[i]).mode() = 1; // 1:Enable, 0:Disable
|
||||
dds_low_command.motor_cmd().at(joint_idx_in_idl[i]).tau() = mc->tau_ff.at(i);
|
||||
dds_low_command.motor_cmd().at(joint_idx_in_idl[i]).q() = mc->q_target.at(i);
|
||||
dds_low_command.motor_cmd().at(joint_idx_in_idl[i]).dq() = mc->dq_target.at(i);
|
||||
dds_low_command.motor_cmd().at(joint_idx_in_idl[i]).kp() = mc->kp.at(i);
|
||||
dds_low_command.motor_cmd().at(joint_idx_in_idl[i]).kd() = mc->kd.at(i);
|
||||
}
|
||||
|
||||
dds_low_command.crc() = Crc32Core((uint32_t *)&dds_low_command, (sizeof(dds_low_command) >> 2) - 1);
|
||||
lowcmd_publisher_->Write(dds_low_command);
|
||||
}
|
||||
}
|
||||
|
||||
void Control() {
|
||||
MotorCommand motor_command_tmp;
|
||||
const std::shared_ptr<const MotorState> ms = motor_state_buffer_.GetData();
|
||||
|
||||
for (int i = 0; i < R1_NUM_MOTOR; ++i) {
|
||||
motor_command_tmp.tau_ff.at(i) = 0.0;
|
||||
motor_command_tmp.q_target.at(i) = 0.0;
|
||||
motor_command_tmp.dq_target.at(i) = 0.0;
|
||||
motor_command_tmp.kp.at(i) = Kp[i];
|
||||
motor_command_tmp.kd.at(i) = Kd[i];
|
||||
}
|
||||
|
||||
if (ms) {
|
||||
time_ += control_dt_;
|
||||
if (time_ < duration_) {
|
||||
// [Stage 1]: set robot to zero posture
|
||||
for (int i = 0; i < R1_NUM_MOTOR; ++i) {
|
||||
double ratio = std::clamp(time_ / duration_, 0.0, 1.0);
|
||||
motor_command_tmp.q_target.at(i) = (1.0 - ratio) * ms->q.at(i);
|
||||
}
|
||||
} else if (time_ < duration_ * 2) {
|
||||
// [Stage 2]: swing ankle using PR mode
|
||||
mode_pr_ = Mode::PR;
|
||||
double max_P = M_PI * 30.0 / 180.0;
|
||||
double max_R = M_PI * 30.0 / 180.0;
|
||||
double t = time_ - duration_;
|
||||
double L_P_des = max_P * std::sin(2.0 * M_PI * t);
|
||||
double L_R_des = max_R * std::sin(2.0 * M_PI * t);
|
||||
double R_P_des = max_P * std::sin(2.0 * M_PI * t);
|
||||
double R_R_des = -max_R * std::sin(2.0 * M_PI * t);
|
||||
|
||||
motor_command_tmp.q_target.at(LeftAnklePitch) = L_P_des;
|
||||
motor_command_tmp.q_target.at(LeftAnkleRoll) = L_R_des;
|
||||
motor_command_tmp.q_target.at(RightAnklePitch) = R_P_des;
|
||||
motor_command_tmp.q_target.at(RightAnkleRoll) = R_R_des;
|
||||
} else {
|
||||
// [Stage 3]: swing ankle using AB mode
|
||||
mode_pr_ = Mode::AB;
|
||||
double max_A = M_PI * 30.0 / 180.0;
|
||||
double max_B = M_PI * 10.0 / 180.0;
|
||||
double t = time_ - duration_ * 2;
|
||||
double L_A_des = +max_A * std::sin(M_PI * t);
|
||||
double L_B_des = +max_B * std::sin(M_PI * t + M_PI);
|
||||
double R_A_des = -max_A * std::sin(M_PI * t);
|
||||
double R_B_des = -max_B * std::sin(M_PI * t + M_PI);
|
||||
|
||||
motor_command_tmp.q_target.at(LeftAnkleA) = L_A_des;
|
||||
motor_command_tmp.q_target.at(LeftAnkleB) = L_B_des;
|
||||
motor_command_tmp.q_target.at(RightAnkleA) = R_A_des;
|
||||
motor_command_tmp.q_target.at(RightAnkleB) = R_B_des;
|
||||
}
|
||||
|
||||
motor_command_buffer_.SetData(motor_command_tmp);
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
int main(int argc, char const *argv[]) {
|
||||
if (argc < 2) {
|
||||
std::cout << "Usage: r1_ankle_swing_example network_interface" << std::endl;
|
||||
exit(0);
|
||||
}
|
||||
std::string networkInterface = argv[1];
|
||||
R1Example custom(networkInterface);
|
||||
while (true) sleep(10);
|
||||
return 0;
|
||||
}
|
||||
Reference in New Issue
Block a user