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License: BSD 3-Clause "New" or "Revised" License
在把unitree_guide,unitree_legged_msgs和unitree_ros_master一起放在catkin_ws/src中catkin_make后出现的报错,应该如何解决?rosdep check后无依赖缺失(all system dependencies have been satisfied)
在把unitree_move_base放在catkin_ws/src中单独catkin_make编译后也出现类似问题 但提示的是:running command:"make -j8 -l8"in"/catkin_ws/build"
在官方书籍的8.6.3,提到了PyPlot类和示例的test.cpp,但是在src文件夹下没有找到该文件
您好!IOROS类中sendCmd函数以发布者的形式在12个关节控制话题如/a1_gazebo/RL_thigh_controller/command中发布信息,根据rostopic info查询到订阅者直接就是gazebo,请问是gazebo自动订阅的吗,或者在哪里有所设置吗?且gazebo对于话题中的数据类型unitree_legged_msgs/MotorCmd还需要再进行解算吗?谢谢!
请问在书上151页提到的unitree_pointCloud_publisher已经发布了吗 好像没有找到
您好,请问一下书上152页机器狗实体导航是只适用与Go1狗吗?A1狗能用吗?能用的话需要做什么修改
书中P82-式6.27
您好,如果我想直接控制go1在simulation里到达某一个具体的位置以及姿态,如何把keyboard给替换掉呀?请问可以直接把keyboard中的ChangeValue
函数里的userValue
给覆盖掉成想要的位置和姿态吗?
另外想问下您的书在美国有办法买到吗?或者有什么线上版本可以参考吗?谢谢!
学习到有限状态机的相关代码,其中检测机器人是否处于安全状态的checkSafty函数令我有些疑惑
bool FSM::checkSafty(){ // The angle with z axis less than 60 degree // 使用getRotMat函数可以获取当前姿态Rsb。 if(_ctrlComp->lowState->getRotMat()(2,2) < 0.5 ){ return false; }else{ return true; } }
如果与z轴的角度少于60度,此时机器人是安全还是不安全呢?
为什么Rsb的第三行第三列小于0.5,具体是什么意思呢?
运行rosrun unitree_guide junior_ctrl
[ERROR] Function setProcessScheduler failed.
The control interface for ROS Gazebo simulation
robot_name: a1
Switched from passive to fixed stand
没有反应,站不起来
执行./devel/lib/unitree_guide/junior_ctrl
然后显示[ERROR] Function setProcessScheduler failed.
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'unitree_move_base'
-- ==> add_subdirectory(unitree_guide/unitree_move_base)
-- Could NOT find move_base_msgs (missing: move_base_msgs_DIR)
-- Could not find the required component 'move_base_msgs'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by "move_base_msgs"
with any of the following names:
move_base_msgsConfig.cmake
move_base_msgs-config.cmake
Add the installation prefix of "move_base_msgs" to CMAKE_PREFIX_PATH or set
"move_base_msgs_DIR" to a directory containing one of the above files. If
"move_base_msgs" provides a separate development package or SDK, be sure it
has been installed.
Call Stack (most recent call first):
unitree_guide/unitree_move_base/CMakeLists.txt:4 (find_package)
-- Configuring incomplete, errors occurred!
See also "/home/my_username/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/my_username/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
I could not find the package move_base_msgs
Please advise
刚开始学习这本书,请问能提供一下vx交流群的链接吗?
另外想问一下这本书的配套代码以及GO1 EDU版本的相关代码支持在Ubuntu20.04+ROS noetic+Gazebo 10的配置版本下正常运行和使用吗?
谢谢!
老师您好,实例代码中实现了对a1和go1的姿态控制,但当我试着直接用这套代码去控制b1的时候发现无法平衡。我们实验室买的是b1的机器狗,所以想请教一下是否有对应控制b1的步态代码呢?谢谢~
老师好,请问老师是否遇到过操作狗前进站立的时候狗经常向上跳一下导致站不稳的情况。站立的时候会跳起而不是平稳站起,前进的时候走一小段距离就会往后跳跃。我输出每次站立的start position感觉也没有问题,应该不是计算时没有获取到当前状态。
CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by "move_base_msgs"
with any of the following names:
move_base_msgsConfig.cmake
move_base_msgs-config.cmake
Add the installation prefix of "move_base_msgs" to CMAKE_PREFIX_PATH or set
"move_base_msgs_DIR" to a directory containing one of the above files. If
"move_base_msgs" provides a separate development package or SDK, be sure it
has been installed.
Call Stack (most recent call first):
unitree_guide/unitree_move_base/CMakeLists.txt:4 (find_package)
-- Configuring incomplete, errors occurred!
See also "/home/rsd/guide_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/rsd/guide_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
在catkin_make后出现以上错误,这是什么问题呢?
第7页中的内容说:“unitree_actuator_sdk都提供C,C++,Python以及ROS的代码实例",但是没找到
在书中介绍了足端力传感器,请问仿真环境下有没有提供该传感器的接口呢?
Could you kindly add a simulation environment and launch file for B1 robot ?
@xiaoliangstd 老师好,我买了一本四足机器人控制算法建模控制与实践书籍,遇到一些问题,
#42
看到这里面有交流群,但是过期了,可以重新发下么,谢谢.
找不到8.6.3章节中使用的PyPlot类源文件src/test.cpp,cmakelist中也没有对应的myTest编译规则
您好!我目前正在进行基于Aliengo的相关调试,建模中需要用到惯性矩阵和质量等相关参数,unitree_guide下的unitreeRobot.cpp中给出了A1和Go1的相关参数,但是没给Aliengo的(即_mass和_Ib变量,代码中127行附近),麻烦帮我找一下Aliengo对应的这几个建模相关参数,谢谢!
1-roslaunch unitree_guide gazeboSim.launch rname:=go1启动仿真后,go1并没有向书上所说的趴在地上,而是就已经站立在仿真环境中。
2-rosrun unitree_guide junior_ctrl 启动控制器后,按1,go1不能如书上所说进入阻尼模式趴下。但是仿真环境中的go1模型有轻微晃动。
您好,请问CmdPanel这个类的作用是什么呢,是跟实物机器人的操控有关吗
运行148页的,sudo su 之后运行ctrl程序,不能控制gazebo中狗子,进不去导航模式,之后运行导航程序的launch显示urdf模型缺失,只能显示电机关节
请问能再发一下交流群链接吗
I want to use the sdk to get the LowState during the remote control of the robot with the built-in controller, but I just tried to find that it doesn't work. Is there another way?
刚刚开始学习这本书的内容,之前的图片链接都失效了,感谢感谢!
6.3所述的单刚体模型,是不考虑腿对于动力学的影响。那么在计算惯性张量时,长方体的长宽高是否是机器人机身的长宽高呢?
实验室使用GO-M8010-6 Motor搭建了一台四足机器人样机,需要把unitree_guide的控制框架移植到新的四足上(先进行仿真),请问需要进行哪些操作呢?
Im trying to run this in ubuntu 22.04 and ros 2 humble. Do you think i can? have you tried this configuration?. Im asking cause you really should update this to newer versions of ros and ubuntu
请问能否给出一段示例代码,以在此文件下,让右前腿运动一段摆线轨迹呢?
具体报错内容如下:
[ 64%] Linking CXX executable /home/yyh/catkin_ws/devel/lib/unitree_guide/junior_ctrl
//usr/local/lib/liblcm.so:无法识别文件: 文件被截断
collect2: error: ld returned 1 exit status
unitree_guide/CMakeFiles/junior_ctrl.dir/build.make:538: recipe for target '/home/yyh/catkin_ws/devel/lib/unitree_guide/junior_ctrl' failed
make[2]: *** [/home/yyh/catkin_ws/devel/lib/unitree_guide/junior_ctrl] Error 1
CMakeFiles/Makefile2:3458: recipe for target 'unitree_guide/CMakeFiles/junior_ctrl.dir/all' failed
make[1]: *** [unitree_guide/CMakeFiles/junior_ctrl.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
Consolidate compiler generated dependencies of target z1_controller
[ 67%] Built target z1_controller
Makefile:145: recipe for target 'all' failed
make: *** [all] Error 2
是否有解决的方法
请问在ros中对go1进行对角步态仿真运动,它刚开始走就会摔倒,我没有修改unitree_guide代码中的参数,为什么会失去平衡呐
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