电机和imu通讯正常
This commit is contained in:
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/home/robofish/CM_DOG/devel/./cmake.lock 843
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/home/robofish/CM_DOG/devel/./cmake.lock 1100
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@ -1,7 +1,28 @@
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legged_control/legged_examples/legged_unitree/legged_unitree_hw
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legged_control/legged_examples/legged_unitree/legged_unitree_hw
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/home/robofish/CM_DOG/devel/.private/legged_unitree_hw/cmake.lock /home/robofish/CM_DOG/devel/./cmake.lock
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/home/robofish/CM_DOG/devel/.private/legged_unitree_hw/cmake.lock /home/robofish/CM_DOG/devel/./cmake.lock
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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@ -1,16 +1,25 @@
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<?xml version="1.0"?>
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<package format="2">
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<package format="2">
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<name>legged_unitree_hw</name>
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<name>legged_unitree_hw</name>
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<version>0.0.0</version>
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<version>0.0.0</version>
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<description>ROS control warped interface for Unitree Robots</description>
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<description>The legged_unitree_hw package</description>
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<maintainer email="liaoqiayuan@gmail.com">Qiayuan Liao</maintainer>
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<license>BSD</license>
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<maintainer email="user@todo.todo">user</maintainer>
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<author email="liaoqiayuan@gmail.com">Qiayuan Liao</author>
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<buildtool_depend>catkin</buildtool_depend>
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<license>TODO</license>
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<build_depend>cmake_clang_tools</build_depend>
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<buildtool_depend>catkin</buildtool_depend>
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<depend>roscpp</depend>
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<depend>legged_hw</depend>
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<build_depend>roscpp</build_depend>
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</package>
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<build_depend>legged_hw</build_depend>
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<build_depend>message_generation</build_depend>
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<build_depend>unitree_motor</build_depend>
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<exec_depend>roscpp</exec_depend>
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<exec_depend>legged_hw</exec_depend>
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<exec_depend>message_runtime</exec_depend>
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<exec_depend>unitree_motor</exec_depend>
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<export>
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<build_type>catkin</build_type>
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</export>
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</package>
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unitree_motor
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/home/robofish/CM_DOG/devel/.private/unitree_motor/cmake.lock /home/robofish/CM_DOG/devel/./cmake.lock
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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/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
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/home/robofish/CM_DOG/devel/.private/unitree_motor/include/unitree_motor/MotorFeedback.h /home/robofish/CM_DOG/devel/include/unitree_motor/MotorFeedback.h
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/home/robofish/CM_DOG/devel/.private/unitree_motor/include/unitree_motor/MotorFeedbackArray.h /home/robofish/CM_DOG/devel/include/unitree_motor/MotorFeedbackArray.h
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/home/robofish/CM_DOG/devel/.private/unitree_motor/lib/pkgconfig/unitree_motor.pc /home/robofish/CM_DOG/devel/lib/pkgconfig/unitree_motor.pc
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/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
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/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
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/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
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/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
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/home/robofish/CM_DOG/devel/.private/unitree_motor/lib/unitree_motor/unitree_motor /home/robofish/CM_DOG/devel/lib/unitree_motor/unitree_motor
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<!-- filepath: /home/robofish/motor_control/src/unitree_motor/package.xml -->
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<package format="2">
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<name>unitree_motor</name>
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<version>0.0.0</version>
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<description>The unitree_motor package</description>
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<maintainer email="user@todo.todo">user</maintainer>
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<license>TODO</license>
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>roscpp</build_depend>
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<build_depend>rospy</build_depend>
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<build_depend>std_msgs</build_depend>
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<build_depend>message_generation</build_depend>
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<exec_depend>roscpp</exec_depend>
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<exec_depend>rospy</exec_depend>
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<exec_depend>std_msgs</exec_depend>
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<exec_depend>message_runtime</exec_depend>
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<export>
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<!-- Other tools can request additional information be placed here -->
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</export>
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</package>
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10
build.sh
10
build.sh
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# 编译`ocs2_legged_robot_ros`包
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# 编译`ocs2_legged_robot_ros`包
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catkin config -DCMAKE_BUILD_TYPE=RelWithDebInfo
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catkin config -DCMAKE_BUILD_TYPE=RelWithDebInfo
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catkin build ocs2_legged_robot_ros ocs2_self_collision_visualization
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# catkin build ocs2_legged_robot_ros ocs2_self_collision_visualization
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# 构建`legged_control`的源代码：
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# 构建`legged_control`的源代码：
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catkin build legged_controllers legged_unitree_description
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# catkin build legged_controllers legged_unitree_description
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# 构建模拟
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# 构建模拟
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catkin build legged_gazebo
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# catkin build legged_gazebo
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# 构建实际硬件接口机器人
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# 构建实际硬件接口机器人
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catkin build legged_unitree_hw
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catkin build legged_unitree_hw
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# 构建外置N100imu
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# 构建外置N100imu
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catkin build fdilink_ahrs
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catkin build fdilink_ahrs
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#构建电机控制和反馈
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catkin build unitree_motor
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<!-- 是否输出debug信息 -->
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<!-- 是否输出debug信息 -->
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<param name="debug" value="false"/>
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<param name="debug" value="false"/>
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<param name="port" value="/dev/ttyUSB0"/>
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<param name="port" value="/dev/wheeltec_FDI_IMU_GNSS"/>
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<!-- 波特率 -->
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<!-- 波特率 -->
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<param name="baud" value="921600"/>
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<param name="baud" value="921600"/>
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@ -7,6 +7,20 @@ find_package(catkin REQUIRED
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COMPONENTS
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COMPONENTS
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roscpp
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roscpp
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legged_hw
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legged_hw
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message_generation
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unitree_motor
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)
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add_message_files(
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FILES
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MotorFeedback.msg
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MotorFeedbackArray.msg
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)
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generate_messages(
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DEPENDENCIES
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std_msgs
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unitree_motor
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)
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)
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catkin_package(
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catkin_package(
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@ -15,6 +29,7 @@ catkin_package(
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|||||||
CATKIN_DEPENDS
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CATKIN_DEPENDS
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roscpp
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roscpp
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legged_hw
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legged_hw
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message_runtime
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)
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)
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###########
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###########
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@ -52,6 +67,9 @@ target_link_libraries(${PROJECT_NAME}_3_8_0
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libunitree_legged_sdk_amd64_3_8_0.a
|
libunitree_legged_sdk_amd64_3_8_0.a
|
||||||
)
|
)
|
||||||
|
|
||||||
|
add_dependencies(${PROJECT_NAME}_3_3_1 ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||||
|
add_dependencies(${PROJECT_NAME}_3_8_0 ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||||
|
|
||||||
#########################
|
#########################
|
||||||
### CLANG TOOLING ###
|
### CLANG TOOLING ###
|
||||||
#########################
|
#########################
|
||||||
@ -87,4 +105,4 @@ install(DIRECTORY include/${PROJECT_NAME}_3_3_1/ include/${PROJECT_NAME}_3_8_0/
|
|||||||
# Mark other files for installation
|
# Mark other files for installation
|
||||||
install(DIRECTORY config launch lib
|
install(DIRECTORY config launch lib
|
||||||
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
||||||
)
|
)
|
||||||
@ -1,6 +1,6 @@
|
|||||||
legged_unitree_hw:
|
legged_unitree_hw:
|
||||||
loop_frequency: 500
|
loop_frequency: 500
|
||||||
cycle_time_error_threshold: 0.002
|
cycle_time_error_threshold: 0.002
|
||||||
thread_priority: 95
|
thread_priority: 95
|
||||||
power_limit: 4
|
power_limit: 4
|
||||||
contact_threshold: 40
|
contact_threshold: 40
|
||||||
|
|||||||
@ -7,6 +7,8 @@
|
|||||||
|
|
||||||
#include <legged_hw/LeggedHW.h>
|
#include <legged_hw/LeggedHW.h>
|
||||||
#include <sensor_msgs/Imu.h> // 确保包含这个头文件
|
#include <sensor_msgs/Imu.h> // 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
|
#ifdef UNITREE_SDK_3_3_1
|
||||||
#include "unitree_legged_sdk_3_3_1/safety.h"
|
#include "unitree_legged_sdk_3_3_1/safety.h"
|
||||||
@ -16,6 +18,7 @@
|
|||||||
#include "unitree_legged_sdk_3_8_0/udp.h"
|
#include "unitree_legged_sdk_3_8_0/udp.h"
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
|
||||||
namespace legged {
|
namespace legged {
|
||||||
const std::vector<std::string> CONTACT_SENSOR_NAMES = {"RF_FOOT", "LF_FOOT", "RH_FOOT", "LH_FOOT"};
|
const std::vector<std::string> 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 updateJoystick(const ros::Time& time);
|
||||||
|
|
||||||
void updateContact(const ros::Time& time);
|
void updateContact(const ros::Time& time);
|
||||||
|
void motorFeedbackCallback(const legged_unitree_hw::MotorFeedbackArray::ConstPtr& msg);
|
||||||
|
|
||||||
private:
|
private:
|
||||||
void imuCallback(const sensor_msgs::Imu::ConstPtr& imuMsg);
|
void imuCallback(const sensor_msgs::Imu::ConstPtr& imuMsg);
|
||||||
@ -87,6 +91,8 @@ class UnitreeHW : public LeggedHW {
|
|||||||
sensor_msgs::Imu::ConstPtr lastImuMsg_;
|
sensor_msgs::Imu::ConstPtr lastImuMsg_;
|
||||||
UnitreeMotorData jointData_[12]{}; // NOLINT(modernize-avoid-c-arrays)
|
UnitreeMotorData jointData_[12]{}; // NOLINT(modernize-avoid-c-arrays)
|
||||||
UnitreeImuData imuData_{};
|
UnitreeImuData imuData_{};
|
||||||
|
ros::Subscriber motorFeedbackSub_;
|
||||||
|
legged_unitree_hw::MotorFeedbackArray motorFeedbackArray_;
|
||||||
bool contactState_[4]{}; // NOLINT(modernize-avoid-c-arrays)
|
bool contactState_[4]{}; // NOLINT(modernize-avoid-c-arrays)
|
||||||
sensor_msgs::Imu imuDataMsg_;
|
sensor_msgs::Imu imuDataMsg_;
|
||||||
int powerLimit_{};
|
int powerLimit_{};
|
||||||
@ -97,4 +103,4 @@ class UnitreeHW : public LeggedHW {
|
|||||||
ros::Time lastJoyPub_, lastContactPub_;
|
ros::Time lastJoyPub_, lastContactPub_;
|
||||||
};
|
};
|
||||||
|
|
||||||
} // namespace legged
|
} // namespace legged
|
||||||
@ -0,0 +1,6 @@
|
|||||||
|
int32 id
|
||||||
|
float32 tau
|
||||||
|
float32 pos
|
||||||
|
float32 vel
|
||||||
|
int32 temp
|
||||||
|
int32 merror
|
||||||
@ -0,0 +1 @@
|
|||||||
|
unitree_motor/MotorFeedback[] motors
|
||||||
@ -1,16 +1,25 @@
|
|||||||
<?xml version="1.0"?>
|
|
||||||
<package format="2">
|
<package format="2">
|
||||||
<name>legged_unitree_hw</name>
|
<name>legged_unitree_hw</name>
|
||||||
<version>0.0.0</version>
|
<version>0.0.0</version>
|
||||||
<description>ROS control warped interface for Unitree Robots</description>
|
<description>The legged_unitree_hw package</description>
|
||||||
<maintainer email="liaoqiayuan@gmail.com">Qiayuan Liao</maintainer>
|
|
||||||
|
|
||||||
<license>BSD</license>
|
<maintainer email="user@todo.todo">user</maintainer>
|
||||||
<author email="liaoqiayuan@gmail.com">Qiayuan Liao</author>
|
|
||||||
|
|
||||||
<buildtool_depend>catkin</buildtool_depend>
|
<license>TODO</license>
|
||||||
|
|
||||||
<build_depend>cmake_clang_tools</build_depend>
|
<buildtool_depend>catkin</buildtool_depend>
|
||||||
<depend>roscpp</depend>
|
|
||||||
<depend>legged_hw</depend>
|
<build_depend>roscpp</build_depend>
|
||||||
</package>
|
<build_depend>legged_hw</build_depend>
|
||||||
|
<build_depend>message_generation</build_depend>
|
||||||
|
<build_depend>unitree_motor</build_depend>
|
||||||
|
|
||||||
|
<exec_depend>roscpp</exec_depend>
|
||||||
|
<exec_depend>legged_hw</exec_depend>
|
||||||
|
<exec_depend>message_runtime</exec_depend>
|
||||||
|
<exec_depend>unitree_motor</exec_depend>
|
||||||
|
|
||||||
|
<export>
|
||||||
|
<build_type>catkin</build_type>
|
||||||
|
</export>
|
||||||
|
</package>
|
||||||
@ -5,6 +5,9 @@
|
|||||||
#include "legged_unitree_hw/UnitreeHW.h"
|
#include "legged_unitree_hw/UnitreeHW.h"
|
||||||
#include <ros/ros.h> // 确保包含这个头文件
|
#include <ros/ros.h> // 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
|
#ifdef UNITREE_SDK_3_3_1
|
||||||
#include "unitree_legged_sdk_3_3_1/unitree_joystick.h"
|
#include "unitree_legged_sdk_3_3_1/unitree_joystick.h"
|
||||||
#elif UNITREE_SDK_3_8_0
|
#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<sensor_msgs::Joy>("/joy", 10);
|
joyPublisher_ = root_nh.advertise<sensor_msgs::Joy>("/joy", 10);
|
||||||
contactPublisher_ = root_nh.advertise<std_msgs::Int16MultiArray>(std::string("/contact"), 10);
|
contactPublisher_ = root_nh.advertise<std_msgs::Int16MultiArray>(std::string("/contact"), 10);
|
||||||
imuSubscriber_ = root_nh.subscribe("/imu", 10, &UnitreeHW::imuCallback, this);
|
imuSubscriber_ = root_nh.subscribe("/imu", 10, &UnitreeHW::imuCallback, this);
|
||||||
|
motorFeedbackSub_ = root_nh.subscribe("motor_feedback", 10, &UnitreeHW::motorFeedbackCallback, this);
|
||||||
return true;
|
return true;
|
||||||
}
|
}
|
||||||
|
|
||||||
void UnitreeHW::imuCallback(const sensor_msgs::Imu::ConstPtr& imuMsg) {
|
void UnitreeHW::imuCallback(const sensor_msgs::Imu::ConstPtr& imuMsg) {
|
||||||
lastImuMsg_ = 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*/) {
|
void UnitreeHW::read(const ros::Time& time, const ros::Duration& /*period*/) {
|
||||||
// 模拟接收数据
|
// 模拟接收数据
|
||||||
// udp_->Recv();
|
// udp_->Recv();
|
||||||
// udp_->GetRecv(lowState_);
|
// udp_->GetRecv(lowState_);
|
||||||
|
|
||||||
// 模拟数据
|
// 模拟数据
|
||||||
for (int i = 0; i < 12; ++i) {
|
// for (int i = 0; i < 12; ++i) {
|
||||||
// lowState_.motorState[i].q = static_cast<float>(i * 0.1); // 模拟位置
|
// lowState_.motorState[i].q = 0.0; // 模拟位置
|
||||||
// lowState_.motorState[i].dq = static_cast<float>(i * 0.01); // 模拟速度
|
// lowState_.motorState[i].dq = 0.0; // 模拟速度
|
||||||
// lowState_.motorState[i].tauEst = static_cast<float>(i * 0.001); // 模拟力矩
|
// lowState_.motorState[i].tauEst = 0.0; // 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
|
// 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
|
// 读取 /imu 话题的数据
|
||||||
if (lastImuMsg_) {
|
if (lastImuMsg_) {
|
||||||
lowState_.imu.quaternion[0] = lastImuMsg_->orientation.w;
|
const auto& ori = lastImuMsg_->orientation;
|
||||||
lowState_.imu.quaternion[1] = lastImuMsg_->orientation.x;
|
const auto& ang_vel = lastImuMsg_->angular_velocity;
|
||||||
lowState_.imu.quaternion[2] = lastImuMsg_->orientation.y;
|
const auto& lin_acc = lastImuMsg_->linear_acceleration;
|
||||||
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;
|
|
||||||
|
|
||||||
// 打印接收到的数据
|
lowState_.imu.quaternion[0] = ori.w;
|
||||||
ROS_INFO("imuMsg->orientation.w: %f", lastImuMsg_->orientation.w);
|
lowState_.imu.quaternion[1] = ori.x;
|
||||||
} else {
|
lowState_.imu.quaternion[2] = ori.y;
|
||||||
ROS_WARN("Failed to receive IMU data");
|
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) {
|
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
|
// 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<std::string> names = hybridJointInterface_.getNames();
|
const auto& names = hybridJointInterface_.getNames();
|
||||||
for (const auto& name : names) {
|
for (const auto& name : names) {
|
||||||
HybridJointHandle handle = hybridJointInterface_.getHandle(name);
|
HybridJointHandle handle = hybridJointInterface_.getHandle(name);
|
||||||
handle.setFeedforward(0.);
|
handle.setFeedforward(0.);
|
||||||
|
|||||||
47
src/unitree_motor/CMakeLists.txt
Normal file
47
src/unitree_motor/CMakeLists.txt
Normal file
@ -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})
|
||||||
3
src/unitree_motor/README.md
Normal file
3
src/unitree_motor/README.md
Normal file
@ -0,0 +1,3 @@
|
|||||||
|
# unitree_motor
|
||||||
|
|
||||||
|
包含了宇数电机的控制和接收反馈功能
|
||||||
41
src/unitree_motor/include/IOPort/IOPort.h
Executable file
41
src/unitree_motor/include/IOPort/IOPort.h
Executable file
@ -0,0 +1,41 @@
|
|||||||
|
#ifndef __IOPORT_H
|
||||||
|
#define __IOPORT_H
|
||||||
|
|
||||||
|
#include <stdint.h>
|
||||||
|
#include <unistd.h>
|
||||||
|
#include <vector>
|
||||||
|
#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<MotorCmd> &sendVec, std::vector<MotorData> &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
|
||||||
33
src/unitree_motor/include/crc/crc32.h
Executable file
33
src/unitree_motor/include/crc/crc32.h
Executable file
@ -0,0 +1,33 @@
|
|||||||
|
#ifndef CRC32_H
|
||||||
|
#define CRC32_H
|
||||||
|
|
||||||
|
#include <stdint.h>
|
||||||
|
|
||||||
|
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
|
||||||
67
src/unitree_motor/include/crc/crc_ccitt.h
Normal file
67
src/unitree_motor/include/crc/crc_ccitt.h
Normal file
@ -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
|
||||||
98
src/unitree_motor/include/serialPort/SerialPort.h
Executable file
98
src/unitree_motor/include/serialPort/SerialPort.h
Executable file
@ -0,0 +1,98 @@
|
|||||||
|
#ifndef __SERIALPORT_H
|
||||||
|
#define __SERIALPORT_H
|
||||||
|
|
||||||
|
/*
|
||||||
|
High frequency serial communication,
|
||||||
|
Not that common, but useful for motor communication.
|
||||||
|
*/
|
||||||
|
#include <termios.h>
|
||||||
|
#include <sys/select.h>
|
||||||
|
#include <string>
|
||||||
|
#include <string.h>
|
||||||
|
#include <stdint.h>
|
||||||
|
#include <fcntl.h>
|
||||||
|
#include <sys/ioctl.h>
|
||||||
|
#include <linux/serial.h>
|
||||||
|
#include <unistd.h>
|
||||||
|
#include <iostream>
|
||||||
|
|
||||||
|
#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<MotorCmd> &sendVec, std::vector<MotorData> &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
|
||||||
52
src/unitree_motor/include/serialPort/include/errorClass.h
Executable file
52
src/unitree_motor/include/serialPort/include/errorClass.h
Executable file
@ -0,0 +1,52 @@
|
|||||||
|
#ifndef __ERRORCLASS_H
|
||||||
|
#define __ERRORCLASS_H
|
||||||
|
|
||||||
|
#include <string>
|
||||||
|
#include <exception>
|
||||||
|
#include <stdexcept>
|
||||||
|
#include <sstream>
|
||||||
|
#include <cstring>
|
||||||
|
|
||||||
|
#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
|
||||||
162
src/unitree_motor/include/unitreeMotor/include/motor_msg_A1B1.h
Executable file
162
src/unitree_motor/include/unitreeMotor/include/motor_msg_A1B1.h
Executable file
@ -0,0 +1,162 @@
|
|||||||
|
#ifndef MOTOR_A1B1_MSG
|
||||||
|
#define MOTOR_A1B1_MSG
|
||||||
|
|
||||||
|
#include <stdint.h>
|
||||||
|
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
|
||||||
90
src/unitree_motor/include/unitreeMotor/include/motor_msg_GO-M8010-6.h
Executable file
90
src/unitree_motor/include/unitreeMotor/include/motor_msg_GO-M8010-6.h
Executable file
@ -0,0 +1,90 @@
|
|||||||
|
#ifndef __MOTOR_MSG_GO_M8010_6_H
|
||||||
|
#define __MOTOR_MSG_GO_M8010_6_H
|
||||||
|
|
||||||
|
#include <stdint.h>
|
||||||
|
#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
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
74
src/unitree_motor/include/unitreeMotor/unitreeMotor.h
Executable file
74
src/unitree_motor/include/unitreeMotor/unitreeMotor.h
Executable file
@ -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 <stdint.h>
|
||||||
|
#include <iostream>
|
||||||
|
|
||||||
|
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
|
||||||
6
src/unitree_motor/launch/unitree_motor.launch
Normal file
6
src/unitree_motor/launch/unitree_motor.launch
Normal file
@ -0,0 +1,6 @@
|
|||||||
|
<launch>
|
||||||
|
<arg name="motor_type" default="GO_M8010_6" />
|
||||||
|
<node name="unitree_motor_node" pkg="unitree_motor" type="unitree_motor" output="screen">
|
||||||
|
<param name="motor_type" value="$(arg motor_type)" />
|
||||||
|
</node>
|
||||||
|
</launch>
|
||||||
6
src/unitree_motor/msg/MotorFeedback.msg
Normal file
6
src/unitree_motor/msg/MotorFeedback.msg
Normal file
@ -0,0 +1,6 @@
|
|||||||
|
int32 id
|
||||||
|
float32 tau
|
||||||
|
float32 pos
|
||||||
|
float32 vel
|
||||||
|
int32 temp
|
||||||
|
int32 merror
|
||||||
1
src/unitree_motor/msg/MotorFeedbackArray.msg
Normal file
1
src/unitree_motor/msg/MotorFeedbackArray.msg
Normal file
@ -0,0 +1 @@
|
|||||||
|
unitree_motor/MotorFeedback[] motors
|
||||||
26
src/unitree_motor/package.xml
Normal file
26
src/unitree_motor/package.xml
Normal file
@ -0,0 +1,26 @@
|
|||||||
|
<!-- filepath: /home/robofish/motor_control/src/unitree_motor/package.xml -->
|
||||||
|
<package format="2">
|
||||||
|
<name>unitree_motor</name>
|
||||||
|
<version>0.0.0</version>
|
||||||
|
<description>The unitree_motor package</description>
|
||||||
|
|
||||||
|
<maintainer email="user@todo.todo">user</maintainer>
|
||||||
|
|
||||||
|
<license>TODO</license>
|
||||||
|
|
||||||
|
<buildtool_depend>catkin</buildtool_depend>
|
||||||
|
|
||||||
|
<build_depend>roscpp</build_depend>
|
||||||
|
<build_depend>rospy</build_depend>
|
||||||
|
<build_depend>std_msgs</build_depend>
|
||||||
|
<build_depend>message_generation</build_depend>
|
||||||
|
|
||||||
|
<exec_depend>roscpp</exec_depend>
|
||||||
|
<exec_depend>rospy</exec_depend>
|
||||||
|
<exec_depend>std_msgs</exec_depend>
|
||||||
|
<exec_depend>message_runtime</exec_depend>
|
||||||
|
|
||||||
|
<export>
|
||||||
|
<!-- Other tools can request additional information be placed here -->
|
||||||
|
</export>
|
||||||
|
</package>
|
||||||
52
src/unitree_motor/src/changeID.cpp
Executable file
52
src/unitree_motor/src/changeID.cpp
Executable file
@ -0,0 +1,52 @@
|
|||||||
|
#include <stdio.h>
|
||||||
|
#include <string.h>
|
||||||
|
#include <unistd.h>
|
||||||
|
#include <stdlib.h>
|
||||||
|
#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;
|
||||||
|
}
|
||||||
35
src/unitree_motor/src/example_a1_motor.cpp
Normal file
35
src/unitree_motor/src/example_a1_motor.cpp
Normal file
@ -0,0 +1,35 @@
|
|||||||
|
#include <unistd.h>
|
||||||
|
#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);
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
65
src/unitree_motor/src/example_a1_motor_output.cpp
Normal file
65
src/unitree_motor/src/example_a1_motor_output.cpp
Normal file
@ -0,0 +1,65 @@
|
|||||||
|
#include <unistd.h>
|
||||||
|
#include "serialPort/SerialPort.h"
|
||||||
|
#include "unitreeMotor/unitreeMotor.h"
|
||||||
|
#include <math.h>
|
||||||
|
#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);
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
35
src/unitree_motor/src/example_b1_motor.cpp
Normal file
35
src/unitree_motor/src/example_b1_motor.cpp
Normal file
@ -0,0 +1,35 @@
|
|||||||
|
#include <unistd.h>
|
||||||
|
#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);
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
35
src/unitree_motor/src/example_goM8010_6_motor.cpp
Normal file
35
src/unitree_motor/src/example_goM8010_6_motor.cpp
Normal file
@ -0,0 +1,35 @@
|
|||||||
|
#include <unistd.h>
|
||||||
|
#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);
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
71
src/unitree_motor/src/unitree_motor.cpp
Normal file
71
src/unitree_motor/src/unitree_motor.cpp
Normal file
@ -0,0 +1,71 @@
|
|||||||
|
// filepath: /home/robofish/motor_control/src/unitree_motor/src/unitree_motor.cpp
|
||||||
|
#include <ros/ros.h>
|
||||||
|
#include <unistd.h>
|
||||||
|
#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<std::string>("motor_type", motor_type, "GO_M8010_6"); // default motor type
|
||||||
|
|
||||||
|
SerialPort serial("/dev/ttyACM0");
|
||||||
|
MotorCmd cmd;
|
||||||
|
MotorData data;
|
||||||
|
|
||||||
|
std::vector<int> motor_ids = {0, 1}; // 定义电机ID列表
|
||||||
|
|
||||||
|
ros::Publisher motor_pub = nh.advertise<unitree_motor::MotorFeedbackArray>("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;
|
||||||
|
}
|
||||||
Loading…
Reference in New Issue
Block a user