From dea0f4f73fbfc93de67b99d669264031e3896adc Mon Sep 17 00:00:00 2001 From: robofish <1683502971@qq.com> Date: Mon, 27 Jan 2025 04:10:04 +0800 Subject: [PATCH] =?UTF-8?q?=E7=94=B5=E6=9C=BA=E5=92=8Cimu=E9=80=9A?= =?UTF-8?q?=E8=AE=AF=E6=AD=A3=E5=B8=B8?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../profiles/default/devel_collisions.txt | 2 +- .../legged_unitree_hw/devel_manifest.txt | 21 +++ .../packages/legged_unitree_hw/package.xml | 33 ++-- .../packages/unitree_motor/devel_manifest.txt | 27 +++ .../packages/unitree_motor/package.xml | 26 +++ build.sh | 10 +- src/fdilink_ahrs/launch/ahrs_data.launch | 2 +- .../legged_unitree_hw/CMakeLists.txt | 20 ++- .../legged_unitree_hw/config/a1.yaml | 10 +- .../include/legged_unitree_hw/UnitreeHW.h | 8 +- .../legged_unitree_hw/msg/MotorFeedback.msg | 6 + .../msg/MotorFeedbackArray.msg | 1 + .../legged_unitree_hw/package.xml | 33 ++-- .../legged_unitree_hw/src/UnitreeHW.cpp | 60 ++++--- src/unitree_motor/CMakeLists.txt | 47 +++++ src/unitree_motor/README.md | 3 + src/unitree_motor/include/IOPort/IOPort.h | 41 +++++ src/unitree_motor/include/crc/crc32.h | 33 ++++ src/unitree_motor/include/crc/crc_ccitt.h | 67 ++++++++ .../include/serialPort/SerialPort.h | 98 +++++++++++ .../include/serialPort/include/errorClass.h | 52 ++++++ .../unitreeMotor/include/motor_msg_A1B1.h | 162 ++++++++++++++++++ .../include/motor_msg_GO-M8010-6.h | 90 ++++++++++ .../include/unitreeMotor/unitreeMotor.h | 74 ++++++++ src/unitree_motor/launch/unitree_motor.launch | 6 + src/unitree_motor/msg/MotorFeedback.msg | 6 + src/unitree_motor/msg/MotorFeedbackArray.msg | 1 + src/unitree_motor/package.xml | 26 +++ src/unitree_motor/src/changeID.cpp | 52 ++++++ src/unitree_motor/src/example_a1_motor.cpp | 35 ++++ .../src/example_a1_motor_output.cpp | 65 +++++++ src/unitree_motor/src/example_b1_motor.cpp | 35 ++++ .../src/example_goM8010_6_motor.cpp | 35 ++++ src/unitree_motor/src/unitree_motor.cpp | 71 ++++++++ 34 files changed, 1197 insertions(+), 61 deletions(-) create mode 100644 .catkin_tools/profiles/default/packages/unitree_motor/devel_manifest.txt create mode 100644 .catkin_tools/profiles/default/packages/unitree_motor/package.xml create mode 100644 src/legged_control/legged_examples/legged_unitree/legged_unitree_hw/msg/MotorFeedback.msg create mode 100644 src/legged_control/legged_examples/legged_unitree/legged_unitree_hw/msg/MotorFeedbackArray.msg create mode 100644 src/unitree_motor/CMakeLists.txt create mode 100644 src/unitree_motor/README.md create mode 100755 src/unitree_motor/include/IOPort/IOPort.h create mode 100755 src/unitree_motor/include/crc/crc32.h create mode 100644 src/unitree_motor/include/crc/crc_ccitt.h create mode 100755 src/unitree_motor/include/serialPort/SerialPort.h create mode 100755 src/unitree_motor/include/serialPort/include/errorClass.h create mode 100755 src/unitree_motor/include/unitreeMotor/include/motor_msg_A1B1.h create mode 100755 src/unitree_motor/include/unitreeMotor/include/motor_msg_GO-M8010-6.h create mode 100755 src/unitree_motor/include/unitreeMotor/unitreeMotor.h create mode 100644 src/unitree_motor/launch/unitree_motor.launch create mode 100644 src/unitree_motor/msg/MotorFeedback.msg create mode 100644 src/unitree_motor/msg/MotorFeedbackArray.msg create mode 100644 src/unitree_motor/package.xml create mode 100755 src/unitree_motor/src/changeID.cpp create mode 100644 src/unitree_motor/src/example_a1_motor.cpp create mode 100644 src/unitree_motor/src/example_a1_motor_output.cpp create mode 100644 src/unitree_motor/src/example_b1_motor.cpp create mode 100644 src/unitree_motor/src/example_goM8010_6_motor.cpp create mode 100644 src/unitree_motor/src/unitree_motor.cpp diff --git a/.catkin_tools/profiles/default/devel_collisions.txt b/.catkin_tools/profiles/default/devel_collisions.txt index c290d7d..c00a5bd 100644 --- a/.catkin_tools/profiles/default/devel_collisions.txt +++ b/.catkin_tools/profiles/default/devel_collisions.txt @@ -1 +1 @@ -/home/robofish/CM_DOG/devel/./cmake.lock 843 +/home/robofish/CM_DOG/devel/./cmake.lock 1100 diff --git a/.catkin_tools/profiles/default/packages/legged_unitree_hw/devel_manifest.txt b/.catkin_tools/profiles/default/packages/legged_unitree_hw/devel_manifest.txt index 0e74e6e..4342753 100644 --- a/.catkin_tools/profiles/default/packages/legged_unitree_hw/devel_manifest.txt +++ b/.catkin_tools/profiles/default/packages/legged_unitree_hw/devel_manifest.txt @@ -1,7 +1,28 @@ legged_control/legged_examples/legged_unitree/legged_unitree_hw /home/robofish/CM_DOG/devel/.private/legged_unitree_hw/cmake.lock /home/robofish/CM_DOG/devel/./cmake.lock +/home/robofish/CM_DOG/devel/.private/legged_unitree_hw/share/roseus/ros/legged_unitree_hw/manifest.l /home/robofish/CM_DOG/devel/share/roseus/ros/legged_unitree_hw/manifest.l +/home/robofish/CM_DOG/devel/.private/legged_unitree_hw/share/roseus/ros/legged_unitree_hw/msg/MotorFeedbackArray.l /home/robofish/CM_DOG/devel/share/roseus/ros/legged_unitree_hw/msg/MotorFeedbackArray.l +/home/robofish/CM_DOG/devel/.private/legged_unitree_hw/share/roseus/ros/legged_unitree_hw/msg/MotorFeedback.l /home/robofish/CM_DOG/devel/share/roseus/ros/legged_unitree_hw/msg/MotorFeedback.l +/home/robofish/CM_DOG/devel/.private/legged_unitree_hw/share/common-lisp/ros/legged_unitree_hw/msg/MotorFeedbackArray.lisp /home/robofish/CM_DOG/devel/share/common-lisp/ros/legged_unitree_hw/msg/MotorFeedbackArray.lisp +/home/robofish/CM_DOG/devel/.private/legged_unitree_hw/share/common-lisp/ros/legged_unitree_hw/msg/_package.lisp /home/robofish/CM_DOG/devel/share/common-lisp/ros/legged_unitree_hw/msg/_package.lisp +/home/robofish/CM_DOG/devel/.private/legged_unitree_hw/share/common-lisp/ros/legged_unitree_hw/msg/_package_MotorFeedbackArray.lisp /home/robofish/CM_DOG/devel/share/common-lisp/ros/legged_unitree_hw/msg/_package_MotorFeedbackArray.lisp +/home/robofish/CM_DOG/devel/.private/legged_unitree_hw/share/common-lisp/ros/legged_unitree_hw/msg/MotorFeedback.lisp /home/robofish/CM_DOG/devel/share/common-lisp/ros/legged_unitree_hw/msg/MotorFeedback.lisp +/home/robofish/CM_DOG/devel/.private/legged_unitree_hw/share/common-lisp/ros/legged_unitree_hw/msg/_package_MotorFeedback.lisp /home/robofish/CM_DOG/devel/share/common-lisp/ros/legged_unitree_hw/msg/_package_MotorFeedback.lisp +/home/robofish/CM_DOG/devel/.private/legged_unitree_hw/share/common-lisp/ros/legged_unitree_hw/msg/legged_unitree_hw-msg.asd /home/robofish/CM_DOG/devel/share/common-lisp/ros/legged_unitree_hw/msg/legged_unitree_hw-msg.asd +/home/robofish/CM_DOG/devel/.private/legged_unitree_hw/share/gennodejs/ros/legged_unitree_hw/_index.js /home/robofish/CM_DOG/devel/share/gennodejs/ros/legged_unitree_hw/_index.js +/home/robofish/CM_DOG/devel/.private/legged_unitree_hw/share/gennodejs/ros/legged_unitree_hw/msg/MotorFeedback.js /home/robofish/CM_DOG/devel/share/gennodejs/ros/legged_unitree_hw/msg/MotorFeedback.js +/home/robofish/CM_DOG/devel/.private/legged_unitree_hw/share/gennodejs/ros/legged_unitree_hw/msg/_index.js /home/robofish/CM_DOG/devel/share/gennodejs/ros/legged_unitree_hw/msg/_index.js +/home/robofish/CM_DOG/devel/.private/legged_unitree_hw/share/gennodejs/ros/legged_unitree_hw/msg/MotorFeedbackArray.js /home/robofish/CM_DOG/devel/share/gennodejs/ros/legged_unitree_hw/msg/MotorFeedbackArray.js +/home/robofish/CM_DOG/devel/.private/legged_unitree_hw/share/legged_unitree_hw/cmake/legged_unitree_hw-msg-paths.cmake /home/robofish/CM_DOG/devel/share/legged_unitree_hw/cmake/legged_unitree_hw-msg-paths.cmake +/home/robofish/CM_DOG/devel/.private/legged_unitree_hw/share/legged_unitree_hw/cmake/legged_unitree_hw-msg-extras.cmake /home/robofish/CM_DOG/devel/share/legged_unitree_hw/cmake/legged_unitree_hw-msg-extras.cmake /home/robofish/CM_DOG/devel/.private/legged_unitree_hw/share/legged_unitree_hw/cmake/legged_unitree_hwConfig.cmake /home/robofish/CM_DOG/devel/share/legged_unitree_hw/cmake/legged_unitree_hwConfig.cmake /home/robofish/CM_DOG/devel/.private/legged_unitree_hw/share/legged_unitree_hw/cmake/legged_unitree_hwConfig-version.cmake /home/robofish/CM_DOG/devel/share/legged_unitree_hw/cmake/legged_unitree_hwConfig-version.cmake +/home/robofish/CM_DOG/devel/.private/legged_unitree_hw/include/legged_unitree_hw/MotorFeedback.h /home/robofish/CM_DOG/devel/include/legged_unitree_hw/MotorFeedback.h +/home/robofish/CM_DOG/devel/.private/legged_unitree_hw/include/legged_unitree_hw/MotorFeedbackArray.h /home/robofish/CM_DOG/devel/include/legged_unitree_hw/MotorFeedbackArray.h /home/robofish/CM_DOG/devel/.private/legged_unitree_hw/lib/pkgconfig/legged_unitree_hw.pc /home/robofish/CM_DOG/devel/lib/pkgconfig/legged_unitree_hw.pc /home/robofish/CM_DOG/devel/.private/legged_unitree_hw/lib/legged_unitree_hw/legged_unitree_hw_3_8_0 /home/robofish/CM_DOG/devel/lib/legged_unitree_hw/legged_unitree_hw_3_8_0 /home/robofish/CM_DOG/devel/.private/legged_unitree_hw/lib/legged_unitree_hw/legged_unitree_hw_3_3_1 /home/robofish/CM_DOG/devel/lib/legged_unitree_hw/legged_unitree_hw_3_3_1 +/home/robofish/CM_DOG/devel/.private/legged_unitree_hw/lib/python3/dist-packages/legged_unitree_hw/__init__.py /home/robofish/CM_DOG/devel/lib/python3/dist-packages/legged_unitree_hw/__init__.py +/home/robofish/CM_DOG/devel/.private/legged_unitree_hw/lib/python3/dist-packages/legged_unitree_hw/msg/_MotorFeedback.py /home/robofish/CM_DOG/devel/lib/python3/dist-packages/legged_unitree_hw/msg/_MotorFeedback.py +/home/robofish/CM_DOG/devel/.private/legged_unitree_hw/lib/python3/dist-packages/legged_unitree_hw/msg/_MotorFeedbackArray.py /home/robofish/CM_DOG/devel/lib/python3/dist-packages/legged_unitree_hw/msg/_MotorFeedbackArray.py +/home/robofish/CM_DOG/devel/.private/legged_unitree_hw/lib/python3/dist-packages/legged_unitree_hw/msg/__init__.py /home/robofish/CM_DOG/devel/lib/python3/dist-packages/legged_unitree_hw/msg/__init__.py diff --git a/.catkin_tools/profiles/default/packages/legged_unitree_hw/package.xml b/.catkin_tools/profiles/default/packages/legged_unitree_hw/package.xml index 9787d44..05d1386 100644 --- a/.catkin_tools/profiles/default/packages/legged_unitree_hw/package.xml +++ b/.catkin_tools/profiles/default/packages/legged_unitree_hw/package.xml @@ -1,16 +1,25 @@ - - legged_unitree_hw - 0.0.0 - ROS control warped interface for Unitree Robots - Qiayuan Liao + legged_unitree_hw + 0.0.0 + The legged_unitree_hw package - BSD - Qiayuan Liao + user - catkin + TODO - cmake_clang_tools - roscpp - legged_hw - + catkin + + roscpp + legged_hw + message_generation + unitree_motor + + roscpp + legged_hw + message_runtime + unitree_motor + + + catkin + + \ No newline at end of file diff --git a/.catkin_tools/profiles/default/packages/unitree_motor/devel_manifest.txt b/.catkin_tools/profiles/default/packages/unitree_motor/devel_manifest.txt new file mode 100644 index 0000000..e7ea4bb --- /dev/null +++ b/.catkin_tools/profiles/default/packages/unitree_motor/devel_manifest.txt @@ -0,0 +1,27 @@ +unitree_motor +/home/robofish/CM_DOG/devel/.private/unitree_motor/cmake.lock /home/robofish/CM_DOG/devel/./cmake.lock +/home/robofish/CM_DOG/devel/.private/unitree_motor/share/roseus/ros/unitree_motor/manifest.l /home/robofish/CM_DOG/devel/share/roseus/ros/unitree_motor/manifest.l +/home/robofish/CM_DOG/devel/.private/unitree_motor/share/roseus/ros/unitree_motor/msg/MotorFeedbackArray.l /home/robofish/CM_DOG/devel/share/roseus/ros/unitree_motor/msg/MotorFeedbackArray.l +/home/robofish/CM_DOG/devel/.private/unitree_motor/share/roseus/ros/unitree_motor/msg/MotorFeedback.l /home/robofish/CM_DOG/devel/share/roseus/ros/unitree_motor/msg/MotorFeedback.l +/home/robofish/CM_DOG/devel/.private/unitree_motor/share/common-lisp/ros/unitree_motor/msg/MotorFeedbackArray.lisp /home/robofish/CM_DOG/devel/share/common-lisp/ros/unitree_motor/msg/MotorFeedbackArray.lisp +/home/robofish/CM_DOG/devel/.private/unitree_motor/share/common-lisp/ros/unitree_motor/msg/_package.lisp /home/robofish/CM_DOG/devel/share/common-lisp/ros/unitree_motor/msg/_package.lisp +/home/robofish/CM_DOG/devel/.private/unitree_motor/share/common-lisp/ros/unitree_motor/msg/_package_MotorFeedbackArray.lisp /home/robofish/CM_DOG/devel/share/common-lisp/ros/unitree_motor/msg/_package_MotorFeedbackArray.lisp +/home/robofish/CM_DOG/devel/.private/unitree_motor/share/common-lisp/ros/unitree_motor/msg/unitree_motor-msg.asd /home/robofish/CM_DOG/devel/share/common-lisp/ros/unitree_motor/msg/unitree_motor-msg.asd +/home/robofish/CM_DOG/devel/.private/unitree_motor/share/common-lisp/ros/unitree_motor/msg/MotorFeedback.lisp /home/robofish/CM_DOG/devel/share/common-lisp/ros/unitree_motor/msg/MotorFeedback.lisp +/home/robofish/CM_DOG/devel/.private/unitree_motor/share/common-lisp/ros/unitree_motor/msg/_package_MotorFeedback.lisp /home/robofish/CM_DOG/devel/share/common-lisp/ros/unitree_motor/msg/_package_MotorFeedback.lisp +/home/robofish/CM_DOG/devel/.private/unitree_motor/share/gennodejs/ros/unitree_motor/_index.js /home/robofish/CM_DOG/devel/share/gennodejs/ros/unitree_motor/_index.js +/home/robofish/CM_DOG/devel/.private/unitree_motor/share/gennodejs/ros/unitree_motor/msg/MotorFeedback.js /home/robofish/CM_DOG/devel/share/gennodejs/ros/unitree_motor/msg/MotorFeedback.js +/home/robofish/CM_DOG/devel/.private/unitree_motor/share/gennodejs/ros/unitree_motor/msg/_index.js /home/robofish/CM_DOG/devel/share/gennodejs/ros/unitree_motor/msg/_index.js +/home/robofish/CM_DOG/devel/.private/unitree_motor/share/gennodejs/ros/unitree_motor/msg/MotorFeedbackArray.js /home/robofish/CM_DOG/devel/share/gennodejs/ros/unitree_motor/msg/MotorFeedbackArray.js +/home/robofish/CM_DOG/devel/.private/unitree_motor/share/unitree_motor/cmake/unitree_motor-msg-paths.cmake /home/robofish/CM_DOG/devel/share/unitree_motor/cmake/unitree_motor-msg-paths.cmake +/home/robofish/CM_DOG/devel/.private/unitree_motor/share/unitree_motor/cmake/unitree_motor-msg-extras.cmake /home/robofish/CM_DOG/devel/share/unitree_motor/cmake/unitree_motor-msg-extras.cmake +/home/robofish/CM_DOG/devel/.private/unitree_motor/share/unitree_motor/cmake/unitree_motorConfig-version.cmake /home/robofish/CM_DOG/devel/share/unitree_motor/cmake/unitree_motorConfig-version.cmake +/home/robofish/CM_DOG/devel/.private/unitree_motor/share/unitree_motor/cmake/unitree_motorConfig.cmake /home/robofish/CM_DOG/devel/share/unitree_motor/cmake/unitree_motorConfig.cmake +/home/robofish/CM_DOG/devel/.private/unitree_motor/include/unitree_motor/MotorFeedback.h /home/robofish/CM_DOG/devel/include/unitree_motor/MotorFeedback.h +/home/robofish/CM_DOG/devel/.private/unitree_motor/include/unitree_motor/MotorFeedbackArray.h /home/robofish/CM_DOG/devel/include/unitree_motor/MotorFeedbackArray.h +/home/robofish/CM_DOG/devel/.private/unitree_motor/lib/pkgconfig/unitree_motor.pc /home/robofish/CM_DOG/devel/lib/pkgconfig/unitree_motor.pc +/home/robofish/CM_DOG/devel/.private/unitree_motor/lib/python3/dist-packages/unitree_motor/__init__.py /home/robofish/CM_DOG/devel/lib/python3/dist-packages/unitree_motor/__init__.py +/home/robofish/CM_DOG/devel/.private/unitree_motor/lib/python3/dist-packages/unitree_motor/msg/_MotorFeedback.py /home/robofish/CM_DOG/devel/lib/python3/dist-packages/unitree_motor/msg/_MotorFeedback.py +/home/robofish/CM_DOG/devel/.private/unitree_motor/lib/python3/dist-packages/unitree_motor/msg/_MotorFeedbackArray.py /home/robofish/CM_DOG/devel/lib/python3/dist-packages/unitree_motor/msg/_MotorFeedbackArray.py +/home/robofish/CM_DOG/devel/.private/unitree_motor/lib/python3/dist-packages/unitree_motor/msg/__init__.py /home/robofish/CM_DOG/devel/lib/python3/dist-packages/unitree_motor/msg/__init__.py +/home/robofish/CM_DOG/devel/.private/unitree_motor/lib/unitree_motor/unitree_motor /home/robofish/CM_DOG/devel/lib/unitree_motor/unitree_motor diff --git a/.catkin_tools/profiles/default/packages/unitree_motor/package.xml b/.catkin_tools/profiles/default/packages/unitree_motor/package.xml new file mode 100644 index 0000000..2e91ad7 --- /dev/null +++ b/.catkin_tools/profiles/default/packages/unitree_motor/package.xml @@ -0,0 +1,26 @@ + + + unitree_motor + 0.0.0 + The unitree_motor package + + user + + TODO + + catkin + + roscpp + rospy + std_msgs + message_generation + + roscpp + rospy + std_msgs + message_runtime + + + + + \ No newline at end of file diff --git a/build.sh b/build.sh index ac55bbb..63f04cc 100644 --- a/build.sh +++ b/build.sh @@ -1,11 +1,13 @@ # 编译`ocs2_legged_robot_ros`包 catkin config -DCMAKE_BUILD_TYPE=RelWithDebInfo -catkin build ocs2_legged_robot_ros ocs2_self_collision_visualization +# catkin build ocs2_legged_robot_ros ocs2_self_collision_visualization # 构建`legged_control`的源代码： -catkin build legged_controllers legged_unitree_description +# catkin build legged_controllers legged_unitree_description # 构建模拟 -catkin build legged_gazebo +# catkin build legged_gazebo # 构建实际硬件接口机器人 catkin build legged_unitree_hw # 构建外置N100imu -catkin build fdilink_ahrs \ No newline at end of file +catkin build fdilink_ahrs +#构建电机控制和反馈 +catkin build unitree_motor \ No newline at end of file diff --git a/src/fdilink_ahrs/launch/ahrs_data.launch b/src/fdilink_ahrs/launch/ahrs_data.launch index 57c743b..5c8b7d5 100644 --- a/src/fdilink_ahrs/launch/ahrs_data.launch +++ b/src/fdilink_ahrs/launch/ahrs_data.launch @@ -3,7 +3,7 @@ - + diff --git a/src/legged_control/legged_examples/legged_unitree/legged_unitree_hw/CMakeLists.txt b/src/legged_control/legged_examples/legged_unitree/legged_unitree_hw/CMakeLists.txt index 8d16f62..754e489 100644 --- a/src/legged_control/legged_examples/legged_unitree/legged_unitree_hw/CMakeLists.txt +++ b/src/legged_control/legged_examples/legged_unitree/legged_unitree_hw/CMakeLists.txt @@ -7,6 +7,20 @@ find_package(catkin REQUIRED COMPONENTS roscpp legged_hw + message_generation + unitree_motor +) + +add_message_files( + FILES + MotorFeedback.msg + MotorFeedbackArray.msg +) + +generate_messages( + DEPENDENCIES + std_msgs + unitree_motor ) catkin_package( @@ -15,6 +29,7 @@ catkin_package( CATKIN_DEPENDS roscpp legged_hw + message_runtime ) ########### @@ -52,6 +67,9 @@ target_link_libraries(${PROJECT_NAME}_3_8_0 libunitree_legged_sdk_amd64_3_8_0.a ) +add_dependencies(${PROJECT_NAME}_3_3_1 ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +add_dependencies(${PROJECT_NAME}_3_8_0 ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + ######################### ### CLANG TOOLING ### ######################### @@ -87,4 +105,4 @@ install(DIRECTORY include/${PROJECT_NAME}_3_3_1/ include/${PROJECT_NAME}_3_8_0/ # Mark other files for installation install(DIRECTORY config launch lib DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} - ) + ) \ No newline at end of file diff --git a/src/legged_control/legged_examples/legged_unitree/legged_unitree_hw/config/a1.yaml b/src/legged_control/legged_examples/legged_unitree/legged_unitree_hw/config/a1.yaml index b4ae9e8..8f7b93d 100644 --- a/src/legged_control/legged_examples/legged_unitree/legged_unitree_hw/config/a1.yaml +++ b/src/legged_control/legged_examples/legged_unitree/legged_unitree_hw/config/a1.yaml @@ -1,6 +1,6 @@ legged_unitree_hw: - loop_frequency: 500 - cycle_time_error_threshold: 0.002 - thread_priority: 95 - power_limit: 4 - contact_threshold: 40 + loop_frequency: 500 + cycle_time_error_threshold: 0.002 + thread_priority: 95 + power_limit: 4 + contact_threshold: 40 diff --git a/src/legged_control/legged_examples/legged_unitree/legged_unitree_hw/include/legged_unitree_hw/UnitreeHW.h b/src/legged_control/legged_examples/legged_unitree/legged_unitree_hw/include/legged_unitree_hw/UnitreeHW.h index 9c0b8c7..9514404 100644 --- a/src/legged_control/legged_examples/legged_unitree/legged_unitree_hw/include/legged_unitree_hw/UnitreeHW.h +++ b/src/legged_control/legged_examples/legged_unitree/legged_unitree_hw/include/legged_unitree_hw/UnitreeHW.h @@ -7,6 +7,8 @@ #include #include // 确保包含这个头文件 +#include "legged_unitree_hw/MotorFeedback.h" +#include "legged_unitree_hw/MotorFeedbackArray.h" #ifdef UNITREE_SDK_3_3_1 #include "unitree_legged_sdk_3_3_1/safety.h" @@ -16,6 +18,7 @@ #include "unitree_legged_sdk_3_8_0/udp.h" #endif + namespace legged { const std::vector CONTACT_SENSOR_NAMES = {"RF_FOOT", "LF_FOOT", "RH_FOOT", "LH_FOOT"}; @@ -69,6 +72,7 @@ class UnitreeHW : public LeggedHW { void updateJoystick(const ros::Time& time); void updateContact(const ros::Time& time); + void motorFeedbackCallback(const legged_unitree_hw::MotorFeedbackArray::ConstPtr& msg); private: void imuCallback(const sensor_msgs::Imu::ConstPtr& imuMsg); @@ -87,6 +91,8 @@ class UnitreeHW : public LeggedHW { sensor_msgs::Imu::ConstPtr lastImuMsg_; UnitreeMotorData jointData_[12]{}; // NOLINT(modernize-avoid-c-arrays) UnitreeImuData imuData_{}; + ros::Subscriber motorFeedbackSub_; + legged_unitree_hw::MotorFeedbackArray motorFeedbackArray_; bool contactState_[4]{}; // NOLINT(modernize-avoid-c-arrays) sensor_msgs::Imu imuDataMsg_; int powerLimit_{}; @@ -97,4 +103,4 @@ class UnitreeHW : public LeggedHW { ros::Time lastJoyPub_, lastContactPub_; }; -} // namespace legged +} // namespace legged \ No newline at end of file diff --git a/src/legged_control/legged_examples/legged_unitree/legged_unitree_hw/msg/MotorFeedback.msg b/src/legged_control/legged_examples/legged_unitree/legged_unitree_hw/msg/MotorFeedback.msg new file mode 100644 index 0000000..62b54ce --- /dev/null +++ b/src/legged_control/legged_examples/legged_unitree/legged_unitree_hw/msg/MotorFeedback.msg @@ -0,0 +1,6 @@ +int32 id +float32 tau +float32 pos +float32 vel +int32 temp +int32 merror \ No newline at end of file diff --git a/src/legged_control/legged_examples/legged_unitree/legged_unitree_hw/msg/MotorFeedbackArray.msg b/src/legged_control/legged_examples/legged_unitree/legged_unitree_hw/msg/MotorFeedbackArray.msg new file mode 100644 index 0000000..afdea52 --- /dev/null +++ b/src/legged_control/legged_examples/legged_unitree/legged_unitree_hw/msg/MotorFeedbackArray.msg @@ -0,0 +1 @@ +unitree_motor/MotorFeedback[] motors \ No newline at end of file diff --git a/src/legged_control/legged_examples/legged_unitree/legged_unitree_hw/package.xml b/src/legged_control/legged_examples/legged_unitree/legged_unitree_hw/package.xml index 9787d44..05d1386 100644 --- a/src/legged_control/legged_examples/legged_unitree/legged_unitree_hw/package.xml +++ b/src/legged_control/legged_examples/legged_unitree/legged_unitree_hw/package.xml @@ -1,16 +1,25 @@ - - legged_unitree_hw - 0.0.0 - ROS control warped interface for Unitree Robots - Qiayuan Liao + legged_unitree_hw + 0.0.0 + The legged_unitree_hw package - BSD - Qiayuan Liao + user - catkin + TODO - cmake_clang_tools - roscpp - legged_hw - + catkin + + roscpp + legged_hw + message_generation + unitree_motor + + roscpp + legged_hw + message_runtime + unitree_motor + + + catkin + + \ No newline at end of file diff --git a/src/legged_control/legged_examples/legged_unitree/legged_unitree_hw/src/UnitreeHW.cpp b/src/legged_control/legged_examples/legged_unitree/legged_unitree_hw/src/UnitreeHW.cpp index 16e9e95..e6a734e 100644 --- a/src/legged_control/legged_examples/legged_unitree/legged_unitree_hw/src/UnitreeHW.cpp +++ b/src/legged_control/legged_examples/legged_unitree/legged_unitree_hw/src/UnitreeHW.cpp @@ -5,6 +5,9 @@ #include "legged_unitree_hw/UnitreeHW.h" #include // 确保包含这个头文件 +#include "legged_unitree_hw/MotorFeedback.h" +#include "legged_unitree_hw/MotorFeedbackArray.h" + #ifdef UNITREE_SDK_3_3_1 #include "unitree_legged_sdk_3_3_1/unitree_joystick.h" #elif UNITREE_SDK_3_8_0 @@ -57,46 +60,55 @@ bool UnitreeHW::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_hw_nh) { joyPublisher_ = root_nh.advertise("/joy", 10); contactPublisher_ = root_nh.advertise(std::string("/contact"), 10); imuSubscriber_ = root_nh.subscribe("/imu", 10, &UnitreeHW::imuCallback, this); - + motorFeedbackSub_ = root_nh.subscribe("motor_feedback", 10, &UnitreeHW::motorFeedbackCallback, this); return true; } void UnitreeHW::imuCallback(const sensor_msgs::Imu::ConstPtr& imuMsg) { lastImuMsg_ = imuMsg; } - +void UnitreeHW::motorFeedbackCallback(const legged_unitree_hw::MotorFeedbackArray::ConstPtr& msg) { + motorFeedbackArray_ = *msg; +} void UnitreeHW::read(const ros::Time& time, const ros::Duration& /*period*/) { // 模拟接收数据 // udp_->Recv(); // udp_->GetRecv(lowState_); // 模拟数据 - for (int i = 0; i < 12; ++i) { - // lowState_.motorState[i].q = static_cast(i * 0.1); // 模拟位置 - // lowState_.motorState[i].dq = static_cast(i * 0.01); // 模拟速度 - // lowState_.motorState[i].tauEst = static_cast(i * 0.001); // 模拟力矩 - lowState_.motorState[i].q = 0.0; // 模拟位置 - lowState_.motorState[i].dq = 0.0; // 模拟速度 - lowState_.motorState[i].tauEst = 0.0; // 模拟力矩 + // for (int i = 0; i < 12; ++i) { + // lowState_.motorState[i].q = 0.0; // 模拟位置 + // lowState_.motorState[i].dq = 0.0; // 模拟速度 + // lowState_.motorState[i].tauEst = 0.0; // 模拟力矩 + // } + + // 从 motor_feedback 话题获取数据 + if (!motorFeedbackArray_.motors.empty()) { + for (const auto& motor : motorFeedbackArray_.motors) { + if (motor.id < 12) { + lowState_.motorState[motor.id].q = motor.pos; + lowState_.motorState[motor.id].dq = motor.vel; + lowState_.motorState[motor.id].tauEst = motor.tau; + } + } } // 读取 /imu 话题的数据 if (lastImuMsg_) { - lowState_.imu.quaternion[0] = lastImuMsg_->orientation.w; - lowState_.imu.quaternion[1] = lastImuMsg_->orientation.x; - lowState_.imu.quaternion[2] = lastImuMsg_->orientation.y; - lowState_.imu.quaternion[3] = lastImuMsg_->orientation.z; - lowState_.imu.gyroscope[0] = lastImuMsg_->angular_velocity.x; - lowState_.imu.gyroscope[1] = lastImuMsg_->angular_velocity.y; - lowState_.imu.gyroscope[2] = lastImuMsg_->angular_velocity.z; - lowState_.imu.accelerometer[0] = lastImuMsg_->linear_acceleration.x; - lowState_.imu.accelerometer[1] = lastImuMsg_->linear_acceleration.y; - lowState_.imu.accelerometer[2] = lastImuMsg_->linear_acceleration.z; + const auto& ori = lastImuMsg_->orientation; + const auto& ang_vel = lastImuMsg_->angular_velocity; + const auto& lin_acc = lastImuMsg_->linear_acceleration; - // 打印接收到的数据 - ROS_INFO("imuMsg->orientation.w: %f", lastImuMsg_->orientation.w); - } else { - ROS_WARN("Failed to receive IMU data"); + lowState_.imu.quaternion[0] = ori.w; + lowState_.imu.quaternion[1] = ori.x; + lowState_.imu.quaternion[2] = ori.y; + lowState_.imu.quaternion[3] = ori.z; + lowState_.imu.gyroscope[0] = ang_vel.x; + lowState_.imu.gyroscope[1] = ang_vel.y; + lowState_.imu.gyroscope[2] = ang_vel.z; + lowState_.imu.accelerometer[0] = lin_acc.x; + lowState_.imu.accelerometer[1] = lin_acc.y; + lowState_.imu.accelerometer[2] = lin_acc.z; } for (size_t i = 0; i < CONTACT_SENSOR_NAMES.size(); ++i) { @@ -125,7 +137,7 @@ void UnitreeHW::read(const ros::Time& time, const ros::Duration& /*period*/) { } // 设置前馈和期望速度为零，以避免在未设置控制器 setCommand 时出现安全问题 - std::vector names = hybridJointInterface_.getNames(); + const auto& names = hybridJointInterface_.getNames(); for (const auto& name : names) { HybridJointHandle handle = hybridJointInterface_.getHandle(name); handle.setFeedforward(0.); diff --git a/src/unitree_motor/CMakeLists.txt b/src/unitree_motor/CMakeLists.txt new file mode 100644 index 0000000..9ad29e3 --- /dev/null +++ b/src/unitree_motor/CMakeLists.txt @@ -0,0 +1,47 @@ +# filepath: /home/robofish/motor_control/src/unitree_motor/CMakeLists.txt +cmake_minimum_required(VERSION 3.1.0) +project(unitree_motor) + +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs + message_generation +) + +add_message_files( + FILES + MotorFeedback.msg + MotorFeedbackArray.msg +) + +generate_messages( + DEPENDENCIES + std_msgs +) + +catkin_package( + CATKIN_DEPENDS message_runtime +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +link_directories(lib) + +if(CMAKE_HOST_SYSTEM_PROCESSOR MATCHES "aarch64") + set(EXTRA_LIBS libUnitreeMotorSDK_Arm64.so) +else() + set(EXTRA_LIBS libUnitreeMotorSDK_Linux64.so) +endif() + +# 添加launch +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch +) + +add_executable(unitree_motor src/unitree_motor.cpp) +add_dependencies(unitree_motor ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(unitree_motor ${catkin_LIBRARIES} ${EXTRA_LIBS}) \ No newline at end of file diff --git a/src/unitree_motor/README.md b/src/unitree_motor/README.md new file mode 100644 index 0000000..a208c0a --- /dev/null +++ b/src/unitree_motor/README.md @@ -0,0 +1,3 @@ +# unitree_motor + +包含了宇数电机的控制和接收反馈功能 \ No newline at end of file diff --git a/src/unitree_motor/include/IOPort/IOPort.h b/src/unitree_motor/include/IOPort/IOPort.h new file mode 100755 index 0000000..173b617 --- /dev/null +++ b/src/unitree_motor/include/IOPort/IOPort.h @@ -0,0 +1,41 @@ +#ifndef __IOPORT_H +#define __IOPORT_H + +#include +#include +#include +#include "unitreeMotor/unitreeMotor.h" + +enum class BlockYN{ + YES, + NO +}; + +class IOPort{ +public: + IOPort(BlockYN blockYN, size_t recvLength, size_t timeOutUs){ + resetIO(blockYN, recvLength, timeOutUs); + } + virtual ~IOPort(){} + virtual size_t send(uint8_t *sendMsg, size_t sendLength) = 0; + virtual size_t recv(uint8_t *recvMsg, size_t recvLength) = 0; + virtual size_t recv(uint8_t *recvMsg) = 0; + virtual bool sendRecv(std::vector &sendVec, std::vector &recvVec) = 0; + void resetIO(BlockYN blockYN, size_t recvLength, size_t timeOutUs); +protected: + BlockYN _blockYN = BlockYN::NO; + size_t _recvLength; + timeval _timeout; + timeval _timeoutSaved; +}; + +inline void IOPort::resetIO(BlockYN blockYN, size_t recvLength, size_t timeOutUs){ + _blockYN = blockYN; + _recvLength = recvLength; + _timeout.tv_sec = timeOutUs / 1000000; + _timeout.tv_usec = timeOutUs % 1000000; + _timeoutSaved = _timeout; +} + + +#endif // z1_lib_IOPORT_H \ No newline at end of file diff --git a/src/unitree_motor/include/crc/crc32.h b/src/unitree_motor/include/crc/crc32.h new file mode 100755 index 0000000..cea99c8 --- /dev/null +++ b/src/unitree_motor/include/crc/crc32.h @@ -0,0 +1,33 @@ +#ifndef CRC32_H +#define CRC32_H + +#include + +inline uint32_t crc32_core(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; +} + +#endif // CRC32_H \ No newline at end of file diff --git a/src/unitree_motor/include/crc/crc_ccitt.h b/src/unitree_motor/include/crc/crc_ccitt.h new file mode 100644 index 0000000..2930e24 --- /dev/null +++ b/src/unitree_motor/include/crc/crc_ccitt.h @@ -0,0 +1,67 @@ +#ifndef __CRC_CCITT_H +#define __CRC_CCITT_H + +/* + * This mysterious table is just the CRC of each possible byte. It can be + * computed using the standard bit-at-a-time methods. The polynomial can + * be seen in entry 128, 0x8408. This corresponds to x^0 + x^5 + x^12. + * Add the implicit x^16, and you have the standard CRC-CCITT. + * https://github.com/torvalds/linux/blob/5bfc75d92efd494db37f5c4c173d3639d4772966/lib/crc-ccitt.c + */ +uint16_t const crc_ccitt_table[256] = { + 0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf, + 0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7, + 0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e, + 0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876, + 0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd, + 0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5, + 0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c, + 0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974, + 0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb, + 0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3, + 0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a, + 0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72, + 0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9, + 0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1, + 0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738, + 0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70, + 0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7, + 0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff, + 0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036, + 0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e, + 0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5, + 0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd, + 0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134, + 0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c, + 0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3, + 0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb, + 0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232, + 0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a, + 0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1, + 0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9, + 0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330, + 0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78 +}; + + +static uint16_t crc_ccitt_byte(uint16_t crc, const uint8_t c) +{ + return (crc >> 8) ^ crc_ccitt_table[(crc ^ c) & 0xff]; +} + +/** + * crc_ccitt - recompute the CRC (CRC-CCITT variant) for the data + * buffer + * @crc: previous CRC value + * @buffer: data pointer + * @len: number of bytes in the buffer + */ +inline uint16_t crc_ccitt(uint16_t crc, uint8_t const *buffer, size_t len) +{ + while (len--) + crc = crc_ccitt_byte(crc, *buffer++); + return crc; +} + + +#endif diff --git a/src/unitree_motor/include/serialPort/SerialPort.h b/src/unitree_motor/include/serialPort/SerialPort.h new file mode 100755 index 0000000..0f608b2 --- /dev/null +++ b/src/unitree_motor/include/serialPort/SerialPort.h @@ -0,0 +1,98 @@ +#ifndef __SERIALPORT_H +#define __SERIALPORT_H + +/* +High frequency serial communication, +Not that common, but useful for motor communication. +*/ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "serialPort/include/errorClass.h" +#include "unitreeMotor/unitreeMotor.h" +#include "IOPort/IOPort.h" + +enum class bytesize_t{ + fivebits, + sixbits, + sevenbits, + eightbits +}; + +enum class parity_t{ + parity_none, + parity_odd, + parity_even, + parity_mark, + parity_space +}; + +enum class stopbits_t{ + stopbits_one, + stopbits_two, + stopbits_one_point_five +}; + +enum class flowcontrol_t{ + flowcontrol_none, + flowcontrol_software, + flowcontrol_hardware +}; + +class SerialPort : public IOPort{ +public: + SerialPort(const std::string &portName, + size_t recvLength = 16, + uint32_t baudrate = 4000000, + size_t timeOutUs = 20000, + BlockYN blockYN = BlockYN::NO, + bytesize_t bytesize = bytesize_t::eightbits, + parity_t parity = parity_t::parity_none, + stopbits_t stopbits = stopbits_t::stopbits_one, + flowcontrol_t flowcontrol = flowcontrol_t::flowcontrol_none); + virtual ~SerialPort(); + void resetSerial(size_t recvLength = 16, + uint32_t baudrate = 4000000, + size_t timeOutUs = 20000, + BlockYN blockYN = BlockYN::NO, + bytesize_t bytesize = bytesize_t::eightbits, + parity_t parity = parity_t::parity_none, + stopbits_t stopbits = stopbits_t::stopbits_one, + flowcontrol_t flowcontrol = flowcontrol_t::flowcontrol_none); + size_t send(uint8_t *sendMsg, size_t sendLength); + size_t recv(uint8_t *recvMsg, size_t recvLength); + size_t recv(uint8_t *recvMsg); + bool sendRecv(uint8_t *sendMsg, uint8_t *recvMsg, size_t sendLength); + bool sendRecv(MotorCmd* sendMsg, MotorData* recvMsg); + bool sendRecv(std::vector &sendVec, std::vector &recvVec); + void test(); +private: + void _open(); + void _set(); + void _close(); + size_t _nonBlockRecv(uint8_t *recvMsg, size_t readLen); + std::string _portName; + uint32_t _baudrate; + bytesize_t _bytesize; + parity_t _parity; + stopbits_t _stopbits; + flowcontrol_t _flowcontrol; + bool _xonxoff; + bool _rtscts; + int _fd; + fd_set _rSet; + +}; + + + + +#endif // SERIALPORT_H \ No newline at end of file diff --git a/src/unitree_motor/include/serialPort/include/errorClass.h b/src/unitree_motor/include/serialPort/include/errorClass.h new file mode 100755 index 0000000..48313c3 --- /dev/null +++ b/src/unitree_motor/include/serialPort/include/errorClass.h @@ -0,0 +1,52 @@ +#ifndef __ERRORCLASS_H +#define __ERRORCLASS_H + +#include +#include +#include +#include +#include + +#define THROW(exceptionClass, message) throw exceptionClass(__FILE__, \ +__LINE__, (message) ) + +class IOException : public std::exception +{ + // Disable copy constructors + IOException& operator=(const IOException&); + std::string file_; + int line_; + std::string e_what_; + int errno_; +public: + explicit IOException (std::string file, int line, int errnum) + : file_(file), line_(line), errno_(errnum) { + std::stringstream ss; +#if defined(_WIN32) && !defined(__MINGW32__) + char error_str [1024]; + strerror_s(error_str, 1024, errnum); +#else + char * error_str = strerror(errnum); +#endif + ss << "IO Exception (" << errno_ << "): " << error_str; + ss << ", file " << file_ << ", line " << line_ << "."; + e_what_ = ss.str(); + } + explicit IOException (std::string file, int line, const char * description) + : file_(file), line_(line), errno_(0) { + std::stringstream ss; + ss << "IO Exception: " << description; + ss << ", file " << file_ << ", line " << line_ << "."; + e_what_ = ss.str(); + } + virtual ~IOException() throw() {} + IOException (const IOException& other) : line_(other.line_), e_what_(other.e_what_), errno_(other.errno_) {} + + int getErrorNumber () const { return errno_; } + + virtual const char* what () const throw () { + return e_what_.c_str(); + } +}; + +#endif // ERRORCLASS_H \ No newline at end of file diff --git a/src/unitree_motor/include/unitreeMotor/include/motor_msg_A1B1.h b/src/unitree_motor/include/unitreeMotor/include/motor_msg_A1B1.h new file mode 100755 index 0000000..95120ab --- /dev/null +++ b/src/unitree_motor/include/unitreeMotor/include/motor_msg_A1B1.h @@ -0,0 +1,162 @@ +#ifndef MOTOR_A1B1_MSG +#define MOTOR_A1B1_MSG + +#include +typedef int16_t q15_t; + +#pragma pack(1) + +// 发送用单个数据数据结构 +typedef union{ + int32_t L; + uint8_t u8[4]; + uint16_t u16[2]; + uint32_t u32; + float F; +}COMData32; + +typedef struct { + // 定义 数据包头 + unsigned char start[2]; // 包头 + unsigned char motorID; // 电机ID 0,1,2,3 ... 0xBB 表示向所有电机广播（此时无返回） + unsigned char reserved; +}COMHead; + +#pragma pack() + +#pragma pack(1) + +typedef struct { + + uint8_t fan_d; // 关节上的散热风扇转速 + uint8_t Fmusic; // 电机发声频率 /64*1000 15.625f 频率分度 + uint8_t Hmusic; // 电机发声强度 推荐值4 声音强度 0.1 分度 + uint8_t reserved4; + + uint8_t FRGB[4]; // 足端LED + +}LowHzMotorCmd; + +typedef struct { // 以 4个字节一组排列 ，不然编译器会凑整 + // 定义 数据 + uint8_t mode; // 关节模式选择 + uint8_t ModifyBit; // 电机控制参数修改位 + uint8_t ReadBit; // 电机控制参数发送位 + uint8_t reserved; + + COMData32 Modify; // 电机参数修改 的数据 + //实际给FOC的指令力矩为： + //K_P*delta_Pos + K_W*delta_W + T + q15_t T; // 期望关节的输出力矩（电机本身的力矩）x256, 7 + 8 描述 + q15_t W; // 期望关节速度 （电机本身的速度） x128, 8 + 7描述 + int32_t Pos; // 期望关节位置 x 16384/6.2832, 14位编码器（主控0点修正，电机关节还是以编码器0点为准） + + q15_t K_P; // 关节刚度系数 x2048 4+11 描述 + q15_t K_W; // 关节速度系数 x1024 5+10 描述 + + uint8_t LowHzMotorCmdIndex; // 电机低频率控制命令的索引, 0-7, 分别代表LowHzMotorCmd中的8个字节 + uint8_t LowHzMotorCmdByte; // 电机低频率控制命令的字节 + + COMData32 Res[1]; // 通讯 保留字节 用于实现别的一些通讯内容 + +}MasterComdV3; // 加上数据包的包头 和CRC 34字节 + +typedef struct { + // 定义 电机控制命令数据包 + COMHead head; + MasterComdV3 Mdata; + COMData32 CRCdata; +}MasterComdDataV3;//返回数据 + +// typedef struct { +// // 定义 总得485 数据包 + +// MasterComdData M1; +// MasterComdData M2; +// MasterComdData M3; + +// }DMA485TxDataV3; + +#pragma pack() + +#pragma pack(1) + +typedef struct { // 以 4个字节一组排列 ，不然编译器会凑整 + // 定义 数据 + uint8_t mode; // 当前关节模式 + uint8_t ReadBit; // 电机控制参数修改 是否成功位 + int8_t Temp; // 电机当前平均温度 + uint8_t MError; // 电机错误 标识 + + COMData32 Read; // 读取的当前 电机 的控制数据 + int16_t T; // 当前实际电机输出力矩 7 + 8 描述 + + int16_t W; // 当前实际电机速度（高速） 8 + 7 描述 + float LW; // 当前实际电机速度（低速） + + int16_t W2; // 当前实际关节速度（高速） 8 + 7 描述 + float LW2; // 当前实际关节速度（低速） + + int16_t Acc; // 电机转子加速度 15+0 描述 惯量较小 + int16_t OutAcc; // 输出轴加速度 12+3 描述 惯量较大 + + int32_t Pos; // 当前电机位置（主控0点修正，电机关节还是以编码器0点为准） + int32_t Pos2; // 关节编码器位置(输出编码器) + + int16_t gyro[3]; // 电机驱动板6轴传感器数据 + int16_t acc[3]; + + // 力传感器的数据 + int16_t Fgyro[3]; // + int16_t Facc[3]; + int16_t Fmag[3]; + uint8_t Ftemp; // 8位表示的温度 7位（-28~100度） 1位0.5度分辨率 + + int16_t Force16; // 力传感器高16位数据 + int8_t Force8; // 力传感器低8位数据 + + uint8_t FError; // 足端传感器错误标识 + + int8_t Res[1]; // 通讯 保留字节 + +}ServoComdV3; // 加上数据包的包头 和CRC 78字节（4+70+4） + +typedef struct { + // 定义 电机控制命令数据包 + COMHead head; + ServoComdV3 Mdata; + + COMData32 CRCdata; + +}ServoComdDataV3; //发送数据 + +// typedef struct { +// // 定义 总的485 接受数据包 + +// ServoComdDataV3 M[3]; +// // uint8_t nullbyte1; + +// }DMA485RxDataV3; + + +#pragma pack() + +// 00 00 00 00 00 +// 00 00 00 00 00 +// 00 00 00 00 00 +// 00 00 00 +// 数据包默认初始化 +// 主机发送的数据包 +/* + Tx485Data[_FR][i].head.start[0] = 0xFE ; Tx485Data[_FR][i].head.start[1] = 0xEE; // 数据包头 + Tx485Data[_FR][i].Mdata.ModifyBit = 0xFF; Tx485Data[_FR][i].Mdata.mode = 0; // 默认不修改数据 和 电机的默认工作模式 + Tx485Data[_FR][i].head.motorID = i; 0 // 目标电机标号 + Tx485Data[_FR][i].Mdata.T = 0.0f; // 默认目标关节输出力矩 motor1.Extra_Torque = motorRxData[1].Mdata.T*0.390625f; // N.M 转化为 N.CM IQ8描述 + Tx485Data[_FR][i].Mdata.Pos = 0x7FE95C80; // 默认目标关节位置 不启用位置环 14位分辨率 + Tx485Data[_FR][i].Mdata.W = 16000.0f; // 默认目标关节速度 不启用速度环 1+8+7描述 motor1.Target_Speed = motorRxData[1].Mdata.W*0.0078125f; // 单位 rad/s IQ7描述 + Tx485Data[_FR][i].Mdata.K_P = (q15_t)(0.6f*(1<<11)); // 默认关节刚度系数 4+11 描述 motor1.K_Pos = ((float)motorRxData[1].Mdata.K_P)/(1<<11); // 描述刚度的通讯数据格式 4+11 + Tx485Data[_FR][i].Mdata.K_W = (q15_t)(1.0f*(1<<10)); // 默认关节速度系数 5+10 描述 motor1.K_Speed = ((float)motorRxData[1].Mdata.K_W)/(1<<10); // 描述阻尼的通讯数据格式 5+10 +*/ + + +#endif \ No newline at end of file diff --git a/src/unitree_motor/include/unitreeMotor/include/motor_msg_GO-M8010-6.h b/src/unitree_motor/include/unitreeMotor/include/motor_msg_GO-M8010-6.h new file mode 100755 index 0000000..54aeefe --- /dev/null +++ b/src/unitree_motor/include/unitreeMotor/include/motor_msg_GO-M8010-6.h @@ -0,0 +1,90 @@ +#ifndef __MOTOR_MSG_GO_M8010_6_H +#define __MOTOR_MSG_GO_M8010_6_H + +#include +#define CRC_SIZE 2 +#define CTRL_DAT_SIZE sizeof(ControlData_t) - CRC_SIZE +#define DATA_DAT_SIZE sizeof(MotorData_t) - CRC_SIZE + +#pragma pack(1) + +/** + * @brief 电机模式控制信息 + * + */ +typedef struct +{ + uint8_t id :4; // 电机ID: 0,1...,14 15表示向所有电机广播数据(此时无返回) + uint8_t status :3; // 工作模式: 0.锁定 1.FOC闭环 2.编码器校准 3.保留 + uint8_t none :1; // 保留位 +} RIS_Mode_t; // 控制模式 1Byte + +/** + * @brief 电机状态控制信息 + * + */ +typedef struct +{ + int16_t tor_des; // 期望关节输出扭矩 unit: N.m (q8) + int16_t spd_des; // 期望关节输出速度 unit: rad/s (q7) + int32_t pos_des; // 期望关节输出位置 unit: rad (q15) + uint16_t k_pos; // 期望关节刚度系数 unit: 0.0-1.0 (q15) + uint16_t k_spd; // 期望关节阻尼系数 unit: 0.0-1.0 (q15) + +} RIS_Comd_t; // 控制参数 12Byte + +/** + * @brief 电机状态反馈信息 + * + */ +typedef struct +{ + int16_t torque; // 实际关节输出扭矩 unit: N.m (q8) + int16_t speed; // 实际关节输出速度 unit: rad/s (q7) + int32_t pos; // 实际关节输出位置 unit: W (q15) + int8_t temp; // 电机温度: -128~127°C 90°C时触发温度保护 + uint8_t MError :3; // 电机错误标识: 0.正常 1.过热 2.过流 3.过压 4.编码器故障 5-7.保留 + uint16_t force :12; // 足端气压传感器数据 12bit (0-4095) + uint8_t none :1; // 保留位 +} RIS_Fbk_t; // 状态数据 11Byte + + +#pragma pack() + +#pragma pack(1) + +/** + * @brief 控制数据包格式 + * + */ +typedef struct +{ + uint8_t head[2]; // 包头 2Byte + RIS_Mode_t mode; // 电机控制模式 1Byte + RIS_Comd_t comd; // 电机期望数据 12Byte + uint16_t CRC16; // CRC 2Byte + +} ControlData_t; // 主机控制命令 17Byte + +/** + * @brief 电机反馈数据包格式 + * + */ +typedef struct +{ + uint8_t head[2]; // 包头 2Byte + RIS_Mode_t mode; // 电机控制模式 1Byte + RIS_Fbk_t fbk; // 电机反馈数据 11Byte + uint16_t CRC16; // CRC 2Byte + +} MotorData_t; // 电机返回数据 16Byte + +#pragma pack() + +#endif + + + + + + diff --git a/src/unitree_motor/include/unitreeMotor/unitreeMotor.h b/src/unitree_motor/include/unitreeMotor/unitreeMotor.h new file mode 100755 index 0000000..fbce3de --- /dev/null +++ b/src/unitree_motor/include/unitreeMotor/unitreeMotor.h @@ -0,0 +1,74 @@ +#ifndef __UNITREEMOTOR_H +#define __UNITREEMOTOR_H + +#include "unitreeMotor/include/motor_msg_GO-M8010-6.h" +#include "unitreeMotor/include/motor_msg_A1B1.h" +#include +#include + +enum class MotorType{ + A1, // 4.8M baudrate + B1, // 6.0M baudrate + GO_M8010_6 +}; + +enum class MotorMode{ + BRAKE, + FOC, + CALIBRATE +}; + +struct MotorCmd{ + public: + MotorCmd(){} + MotorType motorType; + int hex_len; + unsigned short id; + unsigned short mode; + float tau; + float dq; + float q; + float kp; + float kd; + + void modify_data(MotorCmd* motor_s); + uint8_t* get_motor_send_data(); + + COMData32 Res; + private: + ControlData_t GO_M8010_6_motor_send_data; + MasterComdDataV3 A1B1_motor_send_data; +}; + +struct MotorData{ + public: + MotorData(){} + MotorType motorType; + int hex_len; + unsigned char motor_id; + unsigned char mode; + int temp; + int merror; + float tau; + float dq; + float q; + + bool correct = false; + bool extract_data(MotorData* motor_r); + uint8_t* get_motor_recv_data(); + + int footForce; + float LW; + int Acc; + + float gyro[3]; + float acc[3]; + private: + MotorData_t GO_M8010_6_motor_recv_data; + ServoComdDataV3 A1B1_motor_recv_data; +}; + +// Utility Function +int queryMotorMode(MotorType motortype,MotorMode motormode); +float queryGearRatio(MotorType motortype); +#endif // UNITREEMOTOR_H \ No newline at end of file diff --git a/src/unitree_motor/launch/unitree_motor.launch b/src/unitree_motor/launch/unitree_motor.launch new file mode 100644 index 0000000..c2eee82 --- /dev/null +++ b/src/unitree_motor/launch/unitree_motor.launch @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/src/unitree_motor/msg/MotorFeedback.msg b/src/unitree_motor/msg/MotorFeedback.msg new file mode 100644 index 0000000..62b54ce --- /dev/null +++ b/src/unitree_motor/msg/MotorFeedback.msg @@ -0,0 +1,6 @@ +int32 id +float32 tau +float32 pos +float32 vel +int32 temp +int32 merror \ No newline at end of file diff --git a/src/unitree_motor/msg/MotorFeedbackArray.msg b/src/unitree_motor/msg/MotorFeedbackArray.msg new file mode 100644 index 0000000..afdea52 --- /dev/null +++ b/src/unitree_motor/msg/MotorFeedbackArray.msg @@ -0,0 +1 @@ +unitree_motor/MotorFeedback[] motors \ No newline at end of file diff --git a/src/unitree_motor/package.xml b/src/unitree_motor/package.xml new file mode 100644 index 0000000..2e91ad7 --- /dev/null +++ b/src/unitree_motor/package.xml @@ -0,0 +1,26 @@ + + + unitree_motor + 0.0.0 + The unitree_motor package + + user + + TODO + + catkin + + roscpp + rospy + std_msgs + message_generation + + roscpp + rospy + std_msgs + message_runtime + + + + + \ No newline at end of file diff --git a/src/unitree_motor/src/changeID.cpp b/src/unitree_motor/src/changeID.cpp new file mode 100755 index 0000000..6292444 --- /dev/null +++ b/src/unitree_motor/src/changeID.cpp @@ -0,0 +1,52 @@ +#include +#include +#include +#include +#include "serialPort/SerialPort.h" +#include "unitreeMotor/unitreeMotor.h" + +#define BroadAllMotorID 0xBB +#define MotorPulsator 11 + +int main(){ + char serial_name[100]; + + MotorCmd motor_s; + MotorData motor_r; + + motor_s.motorType = MotorType::B1; // set the motor type, A1 or B1 + motor_r.motorType = motor_s.motorType; + + printf("Please input the name of serial port.(e.g. Linux:/dev/ttyUSB0, Windows:\\\\.\\COM3)\n"); + scanf("%s",serial_name); + printf("The serial port is %s\n", serial_name); + + SerialPort serial(serial_name); // set the serial port name + + motor_s.id = BroadAllMotorID; + motor_s.mode = 10; + serial.sendRecv(&motor_s, &motor_r); + + usleep(100000); //sleep 0.1s + + //进入拨轮模式（修改ID） + motor_s.mode = MotorPulsator; + motor_s.modify_data(&motor_s); + serial.send(motor_s.get_motor_send_data(), motor_s.hex_len); + + printf("Please turn the motor.\n"); + printf("One time: id=0; Two times: id=1, Three times: id=2\n"); + printf("ID can only be 0, 1, 2\n"); + printf("Once finished, press 'a'\n"); + + // int c; + while(getchar() != (int)'a'); + printf("Turn finished\n"); + + //保存ID + motor_s.mode = 0; + motor_s.modify_data(&motor_s); + serial.send(motor_s.get_motor_send_data(), motor_s.hex_len); + + return 0; +} diff --git a/src/unitree_motor/src/example_a1_motor.cpp b/src/unitree_motor/src/example_a1_motor.cpp new file mode 100644 index 0000000..2637dad --- /dev/null +++ b/src/unitree_motor/src/example_a1_motor.cpp @@ -0,0 +1,35 @@ +#include +#include "serialPort/SerialPort.h" +#include "unitreeMotor/unitreeMotor.h" + + +int main() { + + SerialPort serial("/dev/ttyUSB0"); + MotorCmd cmd; + MotorData data; + + while(true) + { + cmd.motorType = MotorType::A1; + data.motorType = MotorType::A1; + cmd.mode = queryMotorMode(MotorType::A1,MotorMode::FOC); + cmd.id = 0; + cmd.kp = 0.0; + cmd.kd = 2; + cmd.q = 0.0; + cmd.dq = -6.28*queryGearRatio(MotorType::A1); + cmd.tau = 0.0; + serial.sendRecv(&cmd,&data); + + std::cout << std::endl; + std::cout << "motor.q: " << data.q << std::endl; + std::cout << "motor.temp: " << data.temp << std::endl; + std::cout << "motor.W: " << data.dq << std::endl; + std::cout << "motor.merror: " << data.merror << std::endl; + std::cout << std::endl; + + usleep(200); + } + +} \ No newline at end of file diff --git a/src/unitree_motor/src/example_a1_motor_output.cpp b/src/unitree_motor/src/example_a1_motor_output.cpp new file mode 100644 index 0000000..2f5b4b6 --- /dev/null +++ b/src/unitree_motor/src/example_a1_motor_output.cpp @@ -0,0 +1,65 @@ +#include +#include "serialPort/SerialPort.h" +#include "unitreeMotor/unitreeMotor.h" +#include +#define PI 3.1415926 + +int main() { + + SerialPort serial("/dev/ttyUSB0"); + MotorCmd cmd; + MotorData data; + + float output_kp = 25; + float output_kd = 0.6; + float rotor_kp = 0; + float rotor_kd = 0; + float gear_ratio = queryGearRatio(MotorType::A1); + float sin_counter = 0.0; + + rotor_kp = (output_kp / (gear_ratio * gear_ratio)) / 26.07; + rotor_kd = (output_kd / (gear_ratio * gear_ratio)) * 100.0; + + cmd.motorType = MotorType::A1; + data.motorType = MotorType::A1; + cmd.mode = queryMotorMode(MotorType::A1,MotorMode::FOC); + cmd.id = 0; + cmd.kp = 0.0; + cmd.kd = 0.0; + cmd.q = 0.0; + cmd.dq = 0.0; + cmd.tau = 0.0; + serial.sendRecv(&cmd,&data); + float output_angle_c; + output_angle_c = (data.q / gear_ratio) * (180/PI); + while(true) + { + sin_counter+=0.0001; + float output_angle_d; + output_angle_d = output_angle_c + 90 * sin(2*PI*sin_counter); + float rotor_angle_d = (output_angle_d * (PI/180)) * gear_ratio; + cmd.motorType = MotorType::A1; + data.motorType = MotorType::A1; + cmd.mode = queryMotorMode(MotorType::A1,MotorMode::FOC); + cmd.id = 0; + cmd.kp = rotor_kp; + cmd.kd = rotor_kd; + cmd.q = rotor_angle_d; + cmd.dq = 0.0; + cmd.tau = 0.0; + serial.sendRecv(&cmd,&data); + + + std::cout << std::endl; + std::cout << "motor.q: " << data.q / gear_ratio << std::endl; + std::cout << "motor.temp: " << data.temp << std::endl; + std::cout << "motor.W: " << data.dq / gear_ratio << std::endl; + std::cout << "motor.merror: " << data.merror << std::endl; + std::cout << "rotor_kp: " << rotor_kp << std::endl; + std::cout << "rotor_kd: " << rotor_kd << std::endl; + std::cout << std::endl; + + usleep(200); + } + +} \ No newline at end of file diff --git a/src/unitree_motor/src/example_b1_motor.cpp b/src/unitree_motor/src/example_b1_motor.cpp new file mode 100644 index 0000000..9697959 --- /dev/null +++ b/src/unitree_motor/src/example_b1_motor.cpp @@ -0,0 +1,35 @@ +#include +#include "serialPort/SerialPort.h" +#include "unitreeMotor/unitreeMotor.h" + + +int main() { + + SerialPort serial("/dev/ttyUSB0"); + MotorCmd cmd; + MotorData data; + + while(true) + { + cmd.motorType = MotorType::B1; + data.motorType = MotorType::B1; + cmd.mode = queryMotorMode(MotorType::B1,MotorMode::FOC); + cmd.id = 0; + cmd.kp = 0.0; + cmd.kd = 3; + cmd.q = 0.0; + cmd.dq = -6.28*queryGearRatio(MotorType::B1); + cmd.tau = 0.0; + serial.sendRecv(&cmd,&data); + + std::cout << std::endl; + std::cout << "motor.q: " << data.q << std::endl; + std::cout << "motor.temp: " << data.temp << std::endl; + std::cout << "motor.W: " << data.dq << std::endl; + std::cout << "motor.merror: " << data.merror << std::endl; + std::cout << std::endl; + + usleep(200); + } + +} \ No newline at end of file diff --git a/src/unitree_motor/src/example_goM8010_6_motor.cpp b/src/unitree_motor/src/example_goM8010_6_motor.cpp new file mode 100644 index 0000000..d816123 --- /dev/null +++ b/src/unitree_motor/src/example_goM8010_6_motor.cpp @@ -0,0 +1,35 @@ +#include +#include "serialPort/SerialPort.h" +#include "unitreeMotor/unitreeMotor.h" + + +int main() { + + SerialPort serial("/dev/ttyUSB0"); + MotorCmd cmd; + MotorData data; + + while(true) + { + cmd.motorType = MotorType::GO_M8010_6; + data.motorType = MotorType::GO_M8010_6; + cmd.mode = queryMotorMode(MotorType::GO_M8010_6,MotorMode::FOC); + cmd.id = 0; + cmd.kp = 0.0; + cmd.kd = 0.01; + cmd.q = 0.0; + cmd.dq = -6.28*queryGearRatio(MotorType::GO_M8010_6); + cmd.tau = 0.0; + serial.sendRecv(&cmd,&data); + + std::cout << std::endl; + std::cout << "motor.q: " << data.q << std::endl; + std::cout << "motor.temp: " << data.temp << std::endl; + std::cout << "motor.W: " << data.dq << std::endl; + std::cout << "motor.merror: " << data.merror << std::endl; + std::cout << std::endl; + + usleep(200); + } + +} \ No newline at end of file diff --git a/src/unitree_motor/src/unitree_motor.cpp b/src/unitree_motor/src/unitree_motor.cpp new file mode 100644 index 0000000..528f822 --- /dev/null +++ b/src/unitree_motor/src/unitree_motor.cpp @@ -0,0 +1,71 @@ +// filepath: /home/robofish/motor_control/src/unitree_motor/src/unitree_motor.cpp +#include +#include +#include "serialPort/SerialPort.h" +#include "unitreeMotor/unitreeMotor.h" +#include "unitree_motor/MotorFeedback.h" +#include "unitree_motor/MotorFeedbackArray.h" + +int main(int argc, char **argv) { + ros::init(argc, argv, "unitree_motor_node"); + ros::NodeHandle nh; + + std::string motor_type; + nh.param("motor_type", motor_type, "GO_M8010_6"); // default motor type + + SerialPort serial("/dev/ttyACM0"); + MotorCmd cmd; + MotorData data; + + std::vector motor_ids = {0, 1}; // 定义电机ID列表 + + ros::Publisher motor_pub = nh.advertise("motor_feedback", 1000); + + ros::Rate loop_rate(200); // 200 Hz + + while (ros::ok()) { + unitree_motor::MotorFeedbackArray feedback_array; + for (int id : motor_ids) { + if (motor_type == "GO_M8010_6") { + cmd.motorType = MotorType::GO_M8010_6; + data.motorType = MotorType::GO_M8010_6; + cmd.mode = queryMotorMode(MotorType::GO_M8010_6, MotorMode::FOC); + } + // 你可以在这里添加其他电机类型的处理逻辑 + + cmd.id = id; + cmd.kp = 0.0; + cmd.kd = 0.0; + cmd.q = 0.0; + cmd.dq = 0.0; + cmd.tau = 0.0; + serial.sendRecv(&cmd, &data); + + unitree_motor::MotorFeedback feedback; + feedback.id = id; + feedback.tau = data.tau; + feedback.pos = data.q; + feedback.vel = data.dq; + feedback.temp = data.temp; + feedback.merror = data.merror; + + feedback_array.motors.push_back(feedback); + + if (data.merror == 0) { + ROS_INFO("motor.id: %d", id); + ROS_INFO("motor.tau: %f", data.tau); + ROS_INFO("motor.pos: %f", data.q); + ROS_INFO("motor.vel: %f", data.dq); + } else { + ROS_WARN("motor id=%d does not reply", id); + } + } + + motor_pub.publish(feedback_array); + + ros::spinOnce(); + loop_rate.sleep(); + } + + return 0; +} \ No newline at end of file