diff --git a/Hector_ROS_Simulation/hector_control/ConvexMPC/ConvexMPCLocomotion.cpp b/Hector_ROS_Simulation/hector_control/ConvexMPC/ConvexMPCLocomotion.cpp index f2990ea..ff2aeab 100644 --- a/Hector_ROS_Simulation/hector_control/ConvexMPC/ConvexMPCLocomotion.cpp +++ b/Hector_ROS_Simulation/hector_control/ConvexMPC/ConvexMPCLocomotion.cpp @@ -345,7 +345,7 @@ void ConvexMPCLocomotion::updateMPCIfNeeded(int *mpcTable, ControlFSMData &data, double trajInitial[12] = {/*rpy_comp[0] + */stateCommand->data.stateDes[3], // 0 /*rpy_comp[1] + */stateCommand->data.stateDes[4], // 1 - seResult.rpy[2], // 2 + seResult.rpy[2]*0, // 2 xStart, // 3 yStart, // 4 0.55 , // 5 diff --git a/Hector_ROS_Simulation/hector_control/ConvexMPC/ConvexMPCLocomotion.h b/Hector_ROS_Simulation/hector_control/ConvexMPC/ConvexMPCLocomotion.h index b4a7810..6e7f18f 100644 --- a/Hector_ROS_Simulation/hector_control/ConvexMPC/ConvexMPCLocomotion.h +++ b/Hector_ROS_Simulation/hector_control/ConvexMPC/ConvexMPCLocomotion.h @@ -29,7 +29,7 @@ using namespace std; struct CMPC_Result { - LegControllerCommand commands[2]; + LowLevelControllerCommand commands[2]; Vec2 contactPhase; }; diff --git a/Hector_ROS_Simulation/hector_control/include/FSM/FSM.h b/Hector_ROS_Simulation/hector_control/include/FSM/FSM.h index 550d294..e0e1f4d 100644 --- a/Hector_ROS_Simulation/hector_control/include/FSM/FSM.h +++ b/Hector_ROS_Simulation/hector_control/include/FSM/FSM.h @@ -3,19 +3,21 @@ #include "FSMState.h" #include "FSMState_Passive.h" -#include "FSMState_Walking.h" +#include "FSMState_MPC.h" +#include "FSMState_TO.h" #include "../common/enumClass.h" struct FSMStateList{ FSMState *invalid; FSMState_Passive *passive; - FSMState_Walking *walking; - + FSMState_MPC *mpc; + FSMState_TO *TO; void deletePtr(){ delete invalid; delete passive; - delete walking; + delete mpc; + delete TO; } }; diff --git a/Hector_ROS_Simulation/hector_control/include/FSM/FSMState_Walking.h b/Hector_ROS_Simulation/hector_control/include/FSM/FSMState_MPC.h similarity index 64% rename from Hector_ROS_Simulation/hector_control/include/FSM/FSMState_Walking.h rename to Hector_ROS_Simulation/hector_control/include/FSM/FSMState_MPC.h index f0dc432..46d0564 100644 --- a/Hector_ROS_Simulation/hector_control/include/FSM/FSMState_Walking.h +++ b/Hector_ROS_Simulation/hector_control/include/FSM/FSMState_MPC.h @@ -1,18 +1,19 @@ -#ifndef WALKING_H -#define WALKING_H +#ifndef MPC_H +#define MPC_H #include "FSMState.h" #include "../../ConvexMPC/ConvexMPCLocomotion.h" -class FSMState_Walking: public FSMState +class FSMState_MPC: public FSMState { public: - FSMState_Walking(ControlFSMData *data); - ~FSMState_Walking(){} + FSMState_MPC(ControlFSMData *data); + ~FSMState_MPC(){} void enter(); void run(); void exit(); FSMStateName checkTransition(); + int gaitNum; // Specifiy 1 for standing or 2 for walking private: ConvexMPCLocomotion Cmpc; diff --git a/Hector_ROS_Simulation/hector_control/include/FSM/FSMState_TO.h b/Hector_ROS_Simulation/hector_control/include/FSM/FSMState_TO.h new file mode 100644 index 0000000..ca65917 --- /dev/null +++ b/Hector_ROS_Simulation/hector_control/include/FSM/FSMState_TO.h @@ -0,0 +1,65 @@ +#ifndef OFFLINE_TRAJ_H +#define OFFLINE_TRAJ_H +#include +#include // to get the path to the package + +#include "FSMState.h" +#include + +class FSMState_TO: public FSMState +{ + public: + + /** + * @brief Construct a new FSMState_TO object + * @param data The data to be used by the state + * In constructor, the trajectory data is read from a file + * modify the path to the file as needed + */ + FSMState_TO(ControlFSMData *data); + + ~FSMState_TO(){} + void enter(); + /** + * @brief Function to run the state + * The function is used to update the desired precomputed trajectory + * and send the desired state commands to the leg controller + */ + void run(); + void exit(); + + /** + * @brief Function to check if the state should transition to another state + * @return FSMStateName The name of the next state + * @note If the trajectory data is not loaded, the state transitions to passive + */ + FSMStateName checkTransition(); + + bool traj_data_loaded; + + private: + /** + * @brief Function to read data from a file and return an Eigen::MatrixXd + * @param filePath The path to the file + * @return Eigen::MatrixXd The data read from the file + * The data is expected be in csv format + */ + Eigen::MatrixXd readDataFromFile(const std::string& filePath); + + /** + * @brief Function to extract the trajectory at a given time + * @param fullTrajectory The full trajectory data + * @param currentTrajectory The extracted trajectory + * @param time The time at which to extract the trajectory + * @param dataFrequency The frequency at which the data was recorded + * @note If the time is greater than the time of the last data point, the last data point is returned for safety + */ + void extractTrajectory(const Eigen::MatrixXd& fullTrajectory, Eigen::VectorXd& currentTrajectory, double time, double dataFrequency); + + int counter; + Eigen::MatrixXd traj_ref; + Eigen::VectorXd currentRef; + +}; + +#endif \ No newline at end of file diff --git a/Hector_ROS_Simulation/hector_control/include/common/ControlFSMData.h b/Hector_ROS_Simulation/hector_control/include/common/ControlFSMData.h index 4eec6e4..bdc2098 100644 --- a/Hector_ROS_Simulation/hector_control/include/common/ControlFSMData.h +++ b/Hector_ROS_Simulation/hector_control/include/common/ControlFSMData.h @@ -2,7 +2,7 @@ #define CONTROLFSMDATA_H #include "DesiredCommand.h" -#include "LegController.h" +#include "LowLevelController.h" #include "Biped.h" #include "../messages/LowLevelCmd.h" #include "../messages/LowlevelState.h" @@ -13,7 +13,7 @@ struct ControlFSMData { EIGEN_MAKE_ALIGNED_OPERATOR_NEW Biped *_biped; StateEstimatorContainer *_stateEstimator; - LegController *_legController; + LowLevelController *_legController; DesiredStateCommand *_desiredStateCommand; IOInterface *_interface; LowlevelCmd *_lowCmd; diff --git a/Hector_ROS_Simulation/hector_control/include/common/LegController.h b/Hector_ROS_Simulation/hector_control/include/common/LowLevelController.h similarity index 89% rename from Hector_ROS_Simulation/hector_control/include/common/LegController.h rename to Hector_ROS_Simulation/hector_control/include/common/LowLevelController.h index a038dca..fea7cff 100644 --- a/Hector_ROS_Simulation/hector_control/include/common/LegController.h +++ b/Hector_ROS_Simulation/hector_control/include/common/LowLevelController.h @@ -34,8 +34,8 @@ SOFTWARE. /*! * Data sent from control algorithm to legs */ - struct LegControllerCommand{ - LegControllerCommand() {zero();} + struct LowLevelControllerCommand{ + LowLevelControllerCommand() {zero();} void zero(); @@ -53,8 +53,8 @@ SOFTWARE. /*! * Data returned from legs to control code */ - struct LegControllerData{ - LegControllerData() {zero();} + struct LowLevelControllerData{ + LowLevelControllerData() {zero();} void setBiped(Biped& biped) { hector = &biped; } void zero(); @@ -69,10 +69,10 @@ SOFTWARE. /*! * Controller for 2 legs of hector */ - class LegController { + class LowLevelController { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW - LegController(Biped& biped) : _biped(biped) { + LowLevelController(Biped& biped) : _biped(biped) { for (auto& dat : data) dat.setBiped(_biped); for(int i = 0; i < 2; i++){ commands[i].zero(); @@ -86,8 +86,8 @@ SOFTWARE. void updateCommand(LowlevelCmd* cmd); void setEnabled(bool enabled) {_legsEnabled = enabled;}; - LegControllerCommand commands[2]; - LegControllerData data[2]; + LowLevelControllerCommand commands[2]; + LowLevelControllerData data[2]; bool _legsEnabled = false; std::string limbName[5] = {"Hip 1", "Hip 2", "Thigh", "Knee ", "Toe "}; std::string Side[2] = {"Left ", "Right"}; diff --git a/Hector_ROS_Simulation/hector_control/include/common/StateEstimatorContainer.h b/Hector_ROS_Simulation/hector_control/include/common/StateEstimatorContainer.h index 94aae11..de40c6b 100644 --- a/Hector_ROS_Simulation/hector_control/include/common/StateEstimatorContainer.h +++ b/Hector_ROS_Simulation/hector_control/include/common/StateEstimatorContainer.h @@ -37,7 +37,7 @@ SOFTWARE. #pragma once -#include "LegController.h" +#include "LowLevelController.h" #include "../messages/LowlevelState.h" /*! @@ -65,7 +65,7 @@ struct StateEstimate { struct StateEstimatorData { StateEstimate* result; LowlevelState* lowState; - LegControllerData* legControllerData; + LowLevelControllerData* legControllerData; }; /*! @@ -91,7 +91,7 @@ class StateEstimatorContainer { // Constructor EIGEN_MAKE_ALIGNED_OPERATOR_NEW StateEstimatorContainer(LowlevelState *_lowState, - LegControllerData *_legControllerData, + LowLevelControllerData *_legControllerData, StateEstimate *stateEstimate){ _data.lowState = _lowState; _data.legControllerData = _legControllerData; diff --git a/Hector_ROS_Simulation/hector_control/include/common/enumClass.h b/Hector_ROS_Simulation/hector_control/include/common/enumClass.h index 1c5fd72..314a0c7 100644 --- a/Hector_ROS_Simulation/hector_control/include/common/enumClass.h +++ b/Hector_ROS_Simulation/hector_control/include/common/enumClass.h @@ -33,10 +33,11 @@ enum class FSMStateName{ PASSIVE, PDSTAND, QPSTAND, - WALKING, + MPC, PUSHING, PROBE, SLAM, // slam + TO, }; diff --git a/Hector_ROS_Simulation/hector_control/include/interface/CheatIO.h b/Hector_ROS_Simulation/hector_control/include/interface/CheatIO.h index 627c864..7e192fc 100644 --- a/Hector_ROS_Simulation/hector_control/include/interface/CheatIO.h +++ b/Hector_ROS_Simulation/hector_control/include/interface/CheatIO.h @@ -25,8 +25,8 @@ class CheatIO : public IOInterface void sendCmd(const LowlevelCmd *cmd); void recvState(LowlevelState *state); ros::NodeHandle _nm; - ros::Subscriber _servo_sub[10], _state_sub; - ros::Publisher _servo_pub[10]; + ros::Subscriber _servo_sub[16], _state_sub; + ros::Publisher _servo_pub[16]; unitree_legged_msgs::LowCmd _lowCmd; unitree_legged_msgs::HighState _highState; @@ -47,6 +47,13 @@ class CheatIO : public IOInterface void RcalfCallback(const unitree_legged_msgs::MotorState& msg); void RtoeCallback(const unitree_legged_msgs::MotorState& msg); + void L_twist_Callback(const unitree_legged_msgs::MotorState& msg); + void L_shoulder_Callback(const unitree_legged_msgs::MotorState& msg); + void L_elbow_Callback(const unitree_legged_msgs::MotorState& msg); + void R_twist_Callback(const unitree_legged_msgs::MotorState& msg); + void R_shoulder_Callback(const unitree_legged_msgs::MotorState& msg); + void R_elbow_Callback(const unitree_legged_msgs::MotorState& msg); + }; #endif \ No newline at end of file diff --git a/Hector_ROS_Simulation/hector_control/include/messages/LowLevelCmd.h b/Hector_ROS_Simulation/hector_control/include/messages/LowLevelCmd.h index 0011b40..7c52f18 100644 --- a/Hector_ROS_Simulation/hector_control/include/messages/LowLevelCmd.h +++ b/Hector_ROS_Simulation/hector_control/include/messages/LowLevelCmd.h @@ -54,7 +54,7 @@ struct MotorCmd{ }; struct LowlevelCmd{ - MotorCmd motorCmd[10]; + MotorCmd motorCmd[16]; }; #endif // LOWLEVELCMD_H \ No newline at end of file diff --git a/Hector_ROS_Simulation/hector_control/include/messages/LowlevelState.h b/Hector_ROS_Simulation/hector_control/include/messages/LowlevelState.h index c688479..095d513 100644 --- a/Hector_ROS_Simulation/hector_control/include/messages/LowlevelState.h +++ b/Hector_ROS_Simulation/hector_control/include/messages/LowlevelState.h @@ -101,7 +101,7 @@ struct IMU struct LowlevelState { IMU imu; - MotorState motorState[10]; + MotorState motorState[16]; UserCommand userCmd; UserValue userValue; diff --git a/Hector_ROS_Simulation/hector_control/include/trajectory_data/example.csv b/Hector_ROS_Simulation/hector_control/include/trajectory_data/example.csv new file mode 100644 index 0000000..0f936bc --- /dev/null +++ b/Hector_ROS_Simulation/hector_control/include/trajectory_data/example.csv @@ -0,0 +1 @@ +0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 \ No newline at end of file diff --git a/Hector_ROS_Simulation/hector_control/src/FSM/FSM.cpp b/Hector_ROS_Simulation/hector_control/src/FSM/FSM.cpp index af16ac6..4995337 100644 --- a/Hector_ROS_Simulation/hector_control/src/FSM/FSM.cpp +++ b/Hector_ROS_Simulation/hector_control/src/FSM/FSM.cpp @@ -7,7 +7,8 @@ FSM::FSM(ControlFSMData *data) _stateList.invalid = nullptr; _stateList.passive = new FSMState_Passive(_data); - _stateList.walking = new FSMState_Walking(_data); + _stateList.mpc = new FSMState_MPC(_data); + _stateList.TO = new FSMState_TO(_data); initialize(); } @@ -19,7 +20,7 @@ FSM::~FSM(){ void FSM::initialize() { count = 0; - _currentState = _stateList.walking; + _currentState = _stateList.mpc; _currentState -> enter(); _nextState = _currentState; _mode = FSMMode::NORMAL; @@ -46,7 +47,6 @@ void FSM::run() } else if(_mode == FSMMode::CHANGE) { - // std::cout << "change state" << std::endl; _currentState->exit(); _currentState = _nextState; _currentState->enter(); @@ -67,8 +67,8 @@ FSMState* FSM::getNextState(FSMStateName stateName) case FSMStateName::PASSIVE: return _stateList.passive; break; - case FSMStateName::WALKING: - return _stateList.walking; + case FSMStateName::MPC: + return _stateList.mpc; break; default: return _stateList.invalid; diff --git a/Hector_ROS_Simulation/hector_control/src/FSM/FSMState_MPC.cpp b/Hector_ROS_Simulation/hector_control/src/FSM/FSMState_MPC.cpp new file mode 100644 index 0000000..0d07420 --- /dev/null +++ b/Hector_ROS_Simulation/hector_control/src/FSM/FSMState_MPC.cpp @@ -0,0 +1,72 @@ +#include "../../include/FSM/FSMState_MPC.h" + +FSMState_MPC::FSMState_MPC(ControlFSMData *data) + :FSMState(data, FSMStateName::MPC, "mpc"), + Cmpc(0.001, 40), + gaitNum(2) {} + +template +T1 invNormalize(const T0 value, const T1 min, const T2 max, const double minLim = -1, const double maxLim = 1){ + return (value-minLim)*(max-min)/(maxLim-minLim) + min; +} + +void FSMState_MPC::enter() +{ + v_des_body << 0, 0, 0; + pitch = 0; + roll = 0; + _data->_interface->zeroCmdPanel(); + counter = 0; + _data->_desiredStateCommand->firstRun = true; + _data->_stateEstimator->run(); + _data->_legController->zeroCommand(); + Cmpc.firstRun = true; +} + +void FSMState_MPC::run() +{ + _data->_legController->updateData(_data->_lowState); + _data->_stateEstimator->run(); + _userValue = _data->_lowState->userValue; + + if(gaitNum == 1 /*Standing*/){ + v_des_body[0] = 0.0; + v_des_body[1] = 0.0; + turn_rate = 0.0; + _data->_desiredStateCommand->setStateCommands(roll, pitch, v_des_body, turn_rate); + + Cmpc.setGaitNum(gaitNum); + Cmpc.run(*_data); + } + else if(gaitNum == 2 /*Stepping*/){ + v_des_body[0] = (double)invNormalize(_userValue.ly, -0.75, 0.75); + v_des_body[1] = (double)invNormalize(_userValue.rx, -0.25, 0.25); + turn_rate = (double)invNormalize(_userValue.lx, -0.5, 0.5); + _data->_desiredStateCommand->setStateCommands(roll, pitch, v_des_body, turn_rate); + + Cmpc.setGaitNum(gaitNum); // 2 for walking + Cmpc.run(*_data); + }else{ + std::cout << "Invalid gait number" << std::endl; + gaitNum = 1; // Default to standing + } + + _data->_legController->updateCommand(_data->_lowCmd); + counter++; +} + +void FSMState_MPC::exit() +{ + counter = 0; + _data->_interface->zeroCmdPanel(); +} + +FSMStateName FSMState_MPC::checkTransition() +{ + if(_lowState->userCmd == UserCommand::L2_B){ + return FSMStateName::PASSIVE; + } + else{ + return FSMStateName::MPC; + } +} \ No newline at end of file diff --git a/Hector_ROS_Simulation/hector_control/src/FSM/FSMState_Passive.cpp b/Hector_ROS_Simulation/hector_control/src/FSM/FSMState_Passive.cpp index dd551d4..a17b3ea 100644 --- a/Hector_ROS_Simulation/hector_control/src/FSM/FSMState_Passive.cpp +++ b/Hector_ROS_Simulation/hector_control/src/FSM/FSMState_Passive.cpp @@ -31,7 +31,7 @@ void FSMState_Passive::exit() FSMStateName FSMState_Passive::checkTransition() { if(_lowState->userCmd == UserCommand::L1_X){ - FSMStateName::WALKING; + FSMStateName::MPC; } else{ return FSMStateName::PASSIVE; diff --git a/Hector_ROS_Simulation/hector_control/src/FSM/FSMState_TO.cpp b/Hector_ROS_Simulation/hector_control/src/FSM/FSMState_TO.cpp new file mode 100644 index 0000000..5831d3b --- /dev/null +++ b/Hector_ROS_Simulation/hector_control/src/FSM/FSMState_TO.cpp @@ -0,0 +1,113 @@ +#include "../../include/FSM/FSMState_TO.h" + +FSMState_TO::FSMState_TO(ControlFSMData *data) + :FSMState(data, FSMStateName::TO, "offlineTrajectory"){ + + std::string pathToData = ros::package::getPath("hector_control") + "/include/trajectory_data/example.csv"; + try { + traj_ref = readDataFromFile(pathToData); + traj_data_loaded = true; + }catch (const std::runtime_error& e) { + std::cerr << e.what() << std::endl; + traj_data_loaded = false; + traj_ref = Eigen::MatrixXd::Zero(1, 34); + } + } + +void FSMState_TO::enter() +{ + _data->_interface->zeroCmdPanel(); + counter = 0; + _data->_desiredStateCommand->firstRun = true; + _data->_stateEstimator->run(); + _data->_legController->zeroCommand(); +} + +void FSMState_TO::run() +{ + + _data->_legController->updateData(_data->_lowState); + _data->_stateEstimator->run(); + _userValue = _data->_lowState->userValue; + + // Implement the trajectory logic and update the desired state commands here + // Extract the trajectory at the current time + + // Set the desired state commands + + _data->_legController->updateCommand(_data->_lowCmd); + counter++; +} + +void FSMState_TO::exit() +{ + counter = 0; + _data->_interface->zeroCmdPanel(); +} + +FSMStateName FSMState_TO::checkTransition() +{ + if(_lowState->userCmd == UserCommand::L2_B || !traj_data_loaded){ + std::cout << "\n\n******************************************************************************************" << std::endl; + std::cout << "*******************************TO Transitioning to Passive********************************" << std::endl; + std::cout << "Trajectory data loaded = " << traj_data_loaded << std::endl; + return FSMStateName::PASSIVE; + } + else{ + return FSMStateName::TO; + } +} + +Eigen::MatrixXd FSMState_TO::readDataFromFile(const std::string& filePath) { + std::vector> data; + std::ifstream myFile(filePath); + + // If cannot open the file, report an error + if (!myFile.is_open()) { + throw std::runtime_error("\n Warning: Could not open file: " + filePath); + } + + std::cout << "Reading optimization data from: " << filePath << std::endl; + std::string line; + + // Read data line by line + while (getline(myFile, line)) { + std::stringstream ss(line); + double val; + std::vector row; + while (ss >> val) { + row.push_back(val); + if (ss.peek() == ',') ss.ignore(); + } + data.push_back(row); + } + + myFile.close(); + + // Convert to Eigen type + if (data.size() == 0) return Eigen::MatrixXd(); // Check for empty data + size_t numRows = data.size(); + size_t numCols = data[0].size(); + Eigen::MatrixXd mat(numRows, numCols); + for (size_t i = 0; i < numRows; ++i) { + for (size_t j = 0; j < numCols; ++j) { + mat(i, j) = data[i][j]; + } + } + + return mat.transpose(); +} + + +void FSMState_TO::extractTrajectory(const Eigen::MatrixXd& fullTrajectory, Eigen::VectorXd& currentTrajectory, double time, double dataFrequency) { + + int index = static_cast(floor(time * dataFrequency/1000.0)); + + // Check if the index is within the bounds of the trajectory matrix + if (index < 0 || index >= fullTrajectory.rows()) { + std::cerr << "Error: Time index is out of bounds" << std::endl; + currentTrajectory = fullTrajectory.row(fullTrajectory.rows()-1).transpose(); //set track to last row of trajectory + return; + } + currentTrajectory = fullTrajectory.row(index).transpose(); +} \ No newline at end of file diff --git a/Hector_ROS_Simulation/hector_control/src/FSM/FSMState_Walking.cpp b/Hector_ROS_Simulation/hector_control/src/FSM/FSMState_Walking.cpp deleted file mode 100644 index d797861..0000000 --- a/Hector_ROS_Simulation/hector_control/src/FSM/FSMState_Walking.cpp +++ /dev/null @@ -1,57 +0,0 @@ -#include "../../include/FSM/FSMState_Walking.h" - -FSMState_Walking::FSMState_Walking(ControlFSMData *data) - :FSMState(data, FSMStateName::WALKING, "walking"), - Cmpc(0.001, 40) {} - -template -T1 invNormalize(const T0 value, const T1 min, const T2 max, const double minLim = -1, const double maxLim = 1){ - return (value-minLim)*(max-min)/(maxLim-minLim) + min; -} - -void FSMState_Walking::enter() -{ - v_des_body << 0, 0, 0; - pitch = 0; - roll = 0; - _data->_interface->zeroCmdPanel(); - counter = 0; - _data->_desiredStateCommand->firstRun = true; - _data->_stateEstimator->run(); - _data->_legController->zeroCommand(); - Cmpc.firstRun = true; -} - -void FSMState_Walking::run() -{ - _data->_legController->updateData(_data->_lowState); - _data->_stateEstimator->run(); - _userValue = _data->_lowState->userValue; - - v_des_body[0] = (double)invNormalize(_userValue.ly, -0.75, 0.75); - v_des_body[1] = (double)invNormalize(_userValue.rx, -0.25, 0.25); - turn_rate = (double)invNormalize(_userValue.lx, -0.5, 0.5); - // std::cout << "vx vy " << v_des_body[0] << " " << v_des_body[1] << std::endl; - _data->_desiredStateCommand->setStateCommands(roll, pitch, v_des_body, turn_rate); - - Cmpc.setGaitNum(2); // 2 for walking - Cmpc.run(*_data); - - _data->_legController->updateCommand(_data->_lowCmd); -} - -void FSMState_Walking::exit() -{ - counter = 0; - _data->_interface->zeroCmdPanel(); -} - -FSMStateName FSMState_Walking::checkTransition() -{ - if(_lowState->userCmd == UserCommand::L2_B){ - return FSMStateName::PASSIVE; - } - else{ - return FSMStateName::WALKING; - } -} \ No newline at end of file diff --git a/Hector_ROS_Simulation/hector_control/src/common/LegController.cpp b/Hector_ROS_Simulation/hector_control/src/common/LowLevelController.cpp similarity index 95% rename from Hector_ROS_Simulation/hector_control/src/common/LegController.cpp rename to Hector_ROS_Simulation/hector_control/src/common/LowLevelController.cpp index 96d4597..e990605 100644 --- a/Hector_ROS_Simulation/hector_control/src/common/LegController.cpp +++ b/Hector_ROS_Simulation/hector_control/src/common/LowLevelController.cpp @@ -1,10 +1,10 @@ -#include "../../include/common/LegController.h" +#include "../../include/common/LowLevelController.h" #include // upper level of joint controller // send data to joint controller -void LegControllerCommand::zero(){ +void LowLevelControllerCommand::zero(){ tau = Vec5::Zero(); qDes = Vec5::Zero(); qdDes = Vec5::Zero(); @@ -23,7 +23,7 @@ void LegControllerCommand::zero(){ /*! * Zero leg data */ -void LegControllerData::zero(){ +void LowLevelControllerData::zero(){ q = Vec5::Zero(); qd = Vec5::Zero(); p = Vec3::Zero(); @@ -33,13 +33,13 @@ void LegControllerData::zero(){ tau = Vec5::Zero(); } -void LegController::zeroCommand(){ +void LowLevelController::zeroCommand(){ for (int i = 0; i < 2; i++){ commands[i].zero(); } } -void LegController::updateData(const LowlevelState* state){ +void LowLevelController::updateData(const LowlevelState* state){ for (int leg = 0; leg < 2; leg++){ for(int j = 0; j < 5; j++){ data[leg].q(j) = state->motorState[leg*5+j].q; @@ -54,7 +54,7 @@ void LegController::updateData(const LowlevelState* state){ } -void LegController::updateCommand(LowlevelCmd* cmd){ +void LowLevelController::updateCommand(LowlevelCmd* cmd){ for (int i = 0; i < 2; i++){ Vec6 footForce = commands[i].feedforwardForce; @@ -95,6 +95,9 @@ void LegController::updateCommand(LowlevelCmd* cmd){ cmd->motorCmd[i*5+j].Kd = commands[i].kdJoint(j,j); std::cout << Side[i] << " " << limbName[j] <<" torque cmd = " << cmd->motorCmd[i*5+j].tau << std::endl; } + + //To access left arm controllers use motorCmd 10 through 12 + //To access right arm controllers use motorCmd 13 through 15 commands[i].tau << 0, 0, 0, 0, 0; // zero torque command to prevent interference diff --git a/Hector_ROS_Simulation/hector_control/src/interface/CheatIO.cpp b/Hector_ROS_Simulation/hector_control/src/interface/CheatIO.cpp index ac427dd..b49b80a 100644 --- a/Hector_ROS_Simulation/hector_control/src/interface/CheatIO.cpp +++ b/Hector_ROS_Simulation/hector_control/src/interface/CheatIO.cpp @@ -46,7 +46,7 @@ void CheatIO::sendRecv(const LowlevelCmd *cmd, LowlevelState *state) void CheatIO::sendCmd(const LowlevelCmd *cmd) { - for(int i = 0; i < 10; i++){ + for(int i = 0; i < 16; i++){ _lowCmd.motorCmd[i].mode = 0X0A; // alwasy set it to 0X0A _lowCmd.motorCmd[i].q = cmd->motorCmd[i].q; _lowCmd.motorCmd[i].dq = cmd->motorCmd[i].dq; @@ -54,7 +54,7 @@ void CheatIO::sendCmd(const LowlevelCmd *cmd) _lowCmd.motorCmd[i].Kd = cmd->motorCmd[i].Kd; _lowCmd.motorCmd[i].Kp = cmd->motorCmd[i].Kp; } - for(int m = 0; m < 10; m++){ + for(int m = 0; m < 16; m++){ _servo_pub[m].publish(_lowCmd.motorCmd[m]); } @@ -63,7 +63,7 @@ void CheatIO::sendCmd(const LowlevelCmd *cmd) void CheatIO::recvState(LowlevelState *state) { - for(int i = 0; i < 10; i++) + for(int i = 0; i < 16; i++) { state->motorState[i].q = _highState.motorState[i].q; state->motorState[i].dq = _highState.motorState[i].dq; @@ -89,6 +89,14 @@ void CheatIO::initSend(){ _servo_pub[7] = _nm.advertise( "/" + _robot_name + "_gazebo/R_thigh_controller/command", 1); _servo_pub[8] = _nm.advertise( "/" + _robot_name + "_gazebo/R_calf_controller/command", 1); _servo_pub[9] = _nm.advertise( "/" + _robot_name + "_gazebo/R_toe_controller/command", 1); + + _servo_pub[10] = _nm.advertise( "/" + _robot_name + "_gazebo/L_twist_controller/command", 1); + _servo_pub[11] = _nm.advertise( "/" + _robot_name + "_gazebo/L_shoulder_controller/command", 1); + _servo_pub[12] = _nm.advertise( "/" + _robot_name + "_gazebo/L_elbow_controller/command", 1); + + _servo_pub[13] = _nm.advertise( "/" + _robot_name + "_gazebo/R_twist_controller/command", 1); + _servo_pub[14] = _nm.advertise( "/" + _robot_name + "_gazebo/R_shoulder_controller/command", 1); + _servo_pub[15] = _nm.advertise( "/" + _robot_name + "_gazebo/R_elbow_controller/command", 1); } void CheatIO::initRecv(){ @@ -103,6 +111,15 @@ void CheatIO::initRecv(){ _servo_sub[7] = _nm.subscribe( "/" + _robot_name + "_gazebo/R_thigh_controller/state", 1, &CheatIO::RthighCallback, this); _servo_sub[8] = _nm.subscribe( "/" + _robot_name + "_gazebo/R_calf_controller/state", 1, &CheatIO::RcalfCallback, this); _servo_sub[9] = _nm.subscribe( "/" + _robot_name + "_gazebo/R_toe_controller/state", 1, &CheatIO::RtoeCallback, this); + + _servo_sub[10] = _nm.subscribe( "/" + _robot_name + "_gazebo/L_twist_controller/state", 1, &CheatIO::L_twist_Callback, this); + _servo_sub[11] = _nm.subscribe( "/" + _robot_name + "_gazebo/L_shoulder_controller/state", 1, &CheatIO::L_shoulder_Callback, this); + _servo_sub[12] = _nm.subscribe( "/" + _robot_name + "_gazebo/L_elbow_controller/state", 1, &CheatIO::L_elbow_Callback, this); + + _servo_sub[13] = _nm.subscribe( "/" + _robot_name + "_gazebo/R_twist_controller/state", 1, &CheatIO::R_twist_Callback, this); + _servo_sub[14] = _nm.subscribe( "/" + _robot_name + "_gazebo/R_shoulder_controller/state", 1, &CheatIO::R_shoulder_Callback, this); + _servo_sub[15] = _nm.subscribe( "/" + _robot_name + "_gazebo/R_elbow_controller/state", 1, &CheatIO::R_elbow_Callback, this); + } void CheatIO::StateCallback(const gazebo_msgs::ModelStates & msg) @@ -213,4 +230,48 @@ void CheatIO::RtoeCallback(const unitree_legged_msgs::MotorState& msg) _highState.motorState[9].q = msg.q; _highState.motorState[9].dq = msg.dq; _highState.motorState[9].tauEst = msg.tauEst; +} + + +void CheatIO::L_twist_Callback(const unitree_legged_msgs::MotorState& msg){ + _highState.motorState[10].mode = msg.mode; + _highState.motorState[10].q = msg.q; + _highState.motorState[10].dq = msg.dq; + _highState.motorState[10].tauEst = msg.tauEst; +} +void CheatIO::L_shoulder_Callback(const unitree_legged_msgs::MotorState& msg){ + + _highState.motorState[11].mode = msg.mode; + _highState.motorState[11].q = msg.q; + _highState.motorState[11].dq = msg.dq; + _highState.motorState[11].tauEst = msg.tauEst; + +} +void CheatIO::L_elbow_Callback(const unitree_legged_msgs::MotorState& msg){ + _highState.motorState[12].mode = msg.mode; + _highState.motorState[12].q = msg.q; + _highState.motorState[12].dq = msg.dq; + _highState.motorState[12].tauEst = msg.tauEst; + +} +void CheatIO::R_twist_Callback(const unitree_legged_msgs::MotorState& msg){ + _highState.motorState[13].mode = msg.mode; + _highState.motorState[13].q = msg.q; + _highState.motorState[13].dq = msg.dq; + _highState.motorState[13].tauEst = msg.tauEst; + +} +void CheatIO::R_shoulder_Callback(const unitree_legged_msgs::MotorState& msg){ + _highState.motorState[14].mode = msg.mode; + _highState.motorState[14].q = msg.q; + _highState.motorState[14].dq = msg.dq; + _highState.motorState[14].tauEst = msg.tauEst; + +} +void CheatIO::R_elbow_Callback(const unitree_legged_msgs::MotorState& msg){ + _highState.motorState[15].mode = msg.mode; + _highState.motorState[15].q = msg.q; + _highState.motorState[15].dq = msg.dq; + _highState.motorState[15].tauEst = msg.tauEst; + } \ No newline at end of file diff --git a/Hector_ROS_Simulation/hector_control/src/main.cpp b/Hector_ROS_Simulation/hector_control/src/main.cpp index 64d2ccd..dd0649a 100644 --- a/Hector_ROS_Simulation/hector_control/src/main.cpp +++ b/Hector_ROS_Simulation/hector_control/src/main.cpp @@ -33,7 +33,7 @@ int main(int argc, char ** argv) Biped biped; biped.setBiped(); - LegController* legController = new LegController(biped); + LowLevelController* legController = new LowLevelController(biped); LowlevelCmd* cmd = new LowlevelCmd(); LowlevelState* state = new LowlevelState(); @@ -69,7 +69,6 @@ int main(int argc, char ** argv) rate.sleep(); } - system("stty sane"); //Terminal back to normal delete _controlData; return 0; diff --git a/Hector_ROS_Simulation/hector_description/config/robot_control.yaml b/Hector_ROS_Simulation/hector_description/config/robot_control.yaml index d49fcad..61b7404 100644 --- a/Hector_ROS_Simulation/hector_description/config/robot_control.yaml +++ b/Hector_ROS_Simulation/hector_description/config/robot_control.yaml @@ -55,3 +55,36 @@ hector_gazebo: type: unitree_legged_control/UnitreeJointController joint: R_toe_joint pid: {p: 300.0, i: 0.0, d: 8.0} + + # L arm Controllers --------------------------------------- + L_twist_controller: + type: unitree_legged_control/UnitreeJointController + joint: L_twist_joint + pid: {p: 100.0, i: 0.0, d: 5.0} + + L_shoulder_controller: + type: unitree_legged_control/UnitreeJointController + joint: L_shoulder_joint + pid: {p: 100.0, i: 0.0, d: 5.0} + + L_elbow_controller: + type: unitree_legged_control/UnitreeJointController + joint: L_elbow_joint + pid: {p: 100.0, i: 0.0, d: 5.0} + + # R arm Controllers --------------------------------------- + R_twist_controller: + type: unitree_legged_control/UnitreeJointController + joint: R_twist_joint + pid: {p: 100.0, i: 0.0, d: 5.0} + + R_shoulder_controller: + type: unitree_legged_control/UnitreeJointController + joint: R_shoulder_joint + pid: {p: 100.0, i: 0.0, d: 5.0} + + R_elbow_controller: + type: unitree_legged_control/UnitreeJointController + joint: R_elbow_joint + pid: {p: 100.0, i: 0.0, d: 5.0} + diff --git a/Hector_ROS_Simulation/hector_description/meshes/Head.STL b/Hector_ROS_Simulation/hector_description/meshes/Head.STL new file mode 100644 index 0000000..1047622 Binary files /dev/null and b/Hector_ROS_Simulation/hector_description/meshes/Head.STL differ diff --git a/Hector_ROS_Simulation/hector_description/meshes/calf_a1.dae b/Hector_ROS_Simulation/hector_description/meshes/calf_a1.dae new file mode 100644 index 0000000..ac4b964 --- /dev/null +++ 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+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + 0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 + + + + + + + + \ No newline at end of file diff --git a/Hector_ROS_Simulation/hector_description/xacro/arm.xacro b/Hector_ROS_Simulation/hector_description/xacro/arm.xacro new file mode 100644 index 0000000..265ba95 --- /dev/null +++ b/Hector_ROS_Simulation/hector_description/xacro/arm.xacro @@ -0,0 +1,142 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Hector_ROS_Simulation/hector_description/xacro/arm_transmission.xacro b/Hector_ROS_Simulation/hector_description/xacro/arm_transmission.xacro new file mode 100644 index 0000000..2d0d386 --- /dev/null +++ b/Hector_ROS_Simulation/hector_description/xacro/arm_transmission.xacro @@ -0,0 +1,42 @@ + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + \ No newline at end of file diff --git a/Hector_ROS_Simulation/hector_description/xacro/const.xacro b/Hector_ROS_Simulation/hector_description/xacro/const.xacro index a73ff35..59cd34d 100644 --- a/Hector_ROS_Simulation/hector_description/xacro/const.xacro +++ b/Hector_ROS_Simulation/hector_description/xacro/const.xacro @@ -234,4 +234,98 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Hector_ROS_Simulation/hector_description/xacro/robot.xacro b/Hector_ROS_Simulation/hector_description/xacro/robot.xacro index 2f388f1..0cfa2cb 100644 --- a/Hector_ROS_Simulation/hector_description/xacro/robot.xacro +++ b/Hector_ROS_Simulation/hector_description/xacro/robot.xacro @@ -5,6 +5,7 @@ + @@ -119,6 +120,33 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -128,4 +156,12 @@ + + + + + + + + diff --git a/Hector_ROS_Simulation/hector_description/xacro/transmission.xacro b/Hector_ROS_Simulation/hector_description/xacro/transmission.xacro index fd0aaa6..b20d90f 100644 --- a/Hector_ROS_Simulation/hector_description/xacro/transmission.xacro +++ b/Hector_ROS_Simulation/hector_description/xacro/transmission.xacro @@ -58,7 +58,45 @@ 1 + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + diff --git a/Hector_ROS_Simulation/unitree_ros/unitree_gazebo/launch/biped.launch b/Hector_ROS_Simulation/unitree_ros/unitree_gazebo/launch/hector.launch similarity index 94% rename from Hector_ROS_Simulation/unitree_ros/unitree_gazebo/launch/biped.launch rename to Hector_ROS_Simulation/unitree_ros/unitree_gazebo/launch/hector.launch index e7c65f7..c5ef54d 100644 --- a/Hector_ROS_Simulation/unitree_ros/unitree_gazebo/launch/biped.launch +++ b/Hector_ROS_Simulation/unitree_ros/unitree_gazebo/launch/hector.launch @@ -48,6 +48,8 @@ output="screen" ns="/hector_gazebo" args="joint_state_controller L_hip_controller L_hip2_controller L_thigh_controller L_calf_controller L_toe_controller R_hip_controller R_hip2_controller R_thigh_controller R_calf_controller R_toe_controller + L_twist_controller L_shoulder_controller L_elbow_controller + R_twist_controller R_shoulder_controller R_elbow_controller "/> diff --git a/Readme.md b/Readme.md index 9449c57..ae608cf 100644 --- a/Readme.md +++ b/Readme.md @@ -55,7 +55,7 @@ complie the package ### launch and run gazebo simulation: -* `roslaunch unitree_gazebo biped.launch` +* `roslaunch unitree_gazebo hector.launch` The robot should be standing on the ground * In a new terminal, enter and source your workspace, then run: `rosrun hector_control hector_ctrl`