robofish/JJump_Dog
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

电机和imu通讯正常

Browse Source
This commit is contained in:
robofish 2025-01-27 04:10:04 +08:00
parent 34814acf3e
commit dea0f4f73f
34 changed files with 1197 additions and 61 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
.catkin_tools/profiles/default/devel_collisions.txt
View File

@ -1 +1 @@
/home/robofish/CM_DOG/devel/./cmake.lock 843
/home/robofish/CM_DOG/devel/./cmake.lock 1100

21
.catkin_tools/profiles/default/packages/legged_unitree_hw/devel_manifest.txt
View File

@ -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

25
.catkin_tools/profiles/default/packages/legged_unitree_hw/package.xml
View File

@ -1,16 +1,25 @@
<?xml version="1.0"?>
<package format="2">
<name>legged_unitree_hw</name>
<version>0.0.0</version>
<description>ROS control warped interface for Unitree Robots</description>
<maintainer email="liaoqiayuan@gmail.com">Qiayuan Liao</maintainer>
<description>The legged_unitree_hw package</description>
<license>BSD</license>
<author email="liaoqiayuan@gmail.com">Qiayuan Liao</author>
<maintainer email="user@todo.todo">user</maintainer>
<license>TODO</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>cmake_clang_tools</build_depend>
<depend>roscpp</depend>
<depend>legged_hw</depend>
<build_depend>roscpp</build_depend>
<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>

27
.catkin_tools/profiles/default/packages/unitree_motor/devel_manifest.txt Normal file
View File

@ -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

26
.catkin_tools/profiles/default/packages/unitree_motor/package.xml Normal file
View 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>

8
build.sh
View File

@ -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
#构建电机控制和反馈
catkin build unitree_motor

2
src/fdilink_ahrs/launch/ahrs_data.launch
View File

@ -3,7 +3,7 @@
<!-- 是否输出debug信息 -->
<param name="debug" value="false"/>
<param name="port" value="/dev/ttyUSB0"/>
<param name="port" value="/dev/wheeltec_FDI_IMU_GNSS"/>
<!-- 波特率 -->
<param name="baud" value="921600"/>

18
src/legged_control/legged_examples/legged_unitree/legged_unitree_hw/CMakeLists.txt
View File

@ -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 ###
#########################

6
src/legged_control/legged_examples/legged_unitree/legged_unitree_hw/include/legged_unitree_hw/UnitreeHW.h
View File

@ -7,6 +7,8 @@
#include <legged_hw/LeggedHW.h>
#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
#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<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 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_{};

6
src/legged_control/legged_examples/legged_unitree/legged_unitree_hw/msg/MotorFeedback.msg Normal file
View File

@ -0,0 +1,6 @@
int32 id
float32 tau
float32 pos
float32 vel
int32 temp
int32 merror

1
src/legged_control/legged_examples/legged_unitree/legged_unitree_hw/msg/MotorFeedbackArray.msg Normal file
View File

@ -0,0 +1 @@
unitree_motor/MotorFeedback[] motors

25
src/legged_control/legged_examples/legged_unitree/legged_unitree_hw/package.xml
View File

@ -1,16 +1,25 @@
<?xml version="1.0"?>
<package format="2">
<name>legged_unitree_hw</name>
<version>0.0.0</version>
<description>ROS control warped interface for Unitree Robots</description>
<maintainer email="liaoqiayuan@gmail.com">Qiayuan Liao</maintainer>
<description>The legged_unitree_hw package</description>
<license>BSD</license>
<author email="liaoqiayuan@gmail.com">Qiayuan Liao</author>
<maintainer email="user@todo.todo">user</maintainer>
<license>TODO</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>cmake_clang_tools</build_depend>
<depend>roscpp</depend>
<depend>legged_hw</depend>
<build_depend>roscpp</build_depend>
<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>

60
src/legged_control/legged_examples/legged_unitree/legged_unitree_hw/src/UnitreeHW.cpp
View File

@ -5,6 +5,9 @@
#include "legged_unitree_hw/UnitreeHW.h"
#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
#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<sensor_msgs::Joy>("/joy", 10);
contactPublisher_ = root_nh.advertise<std_msgs::Int16MultiArray>(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<float>(i * 0.1); // 模拟位置
// lowState_.motorState[i].dq = static_cast<float>(i * 0.01); // 模拟速度
// lowState_.motorState[i].tauEst = static_cast<float>(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<std::string> names = hybridJointInterface_.getNames();
const auto& names = hybridJointInterface_.getNames();
for (const auto& name : names) {
HybridJointHandle handle = hybridJointInterface_.getHandle(name);
handle.setFeedforward(0.);

47
src/unitree_motor/CMakeLists.txt Normal file
View 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
View 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
View 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
View 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
View 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
View 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
View 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
View 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
View 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
View 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
View 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
View 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
View File

@ -0,0 +1 @@
unitree_motor/MotorFeedback[] motors

26
src/unitree_motor/package.xml Normal file
View 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
View 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
View 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
View 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
View 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
View 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
View 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;
}