GO1 Software Setup ================== .. image:: media/gifs/go1_rviz.gif :width: 100% :align: center Requirements ------------ This driver requires a system setup with ROS. It is recommended to use Ubuntu 18.04/Ubuntu 20.04 with ROS melodic/noetic. To make sure that robot control isn't affected by system latencies, it is highly recommended to connect the robot via lan. The driver should run intially on remote PC but can also be run on Rasberry Pi/Nvidia board on robot. Building -------- Please follow the pre-requisite section. - `ROS Melodic `__ - `ROS Noetic `__ - GO1 package `Email ` Optional -------- - `Gazebo9 `__ (melodic) - `Gazebo11 `__ (noetic) Software Overview ----------------- Quadruped robots work in two modes: 1. High level mode 2. Low level mode User can be in one of these modes and they can not be switched after running. High level mode ~~~~~~~~~~~~~~~ .. image:: media/a1_launch.gif High level mode is mainly for walking and running. This mode too has two modes normal and motion mode which can be distinguished from their ips (For more details see Quadruped software guide). At the moment this driver is working with default configuration. In high level mode the robot can walk/run. To run the robot in high level mode run the following command as root user (after turning on the robot and connecting through lan, the robot will be standing): .. code:: bash sudo su source ~/catkin_ws/devel/setup.bash roslaunch go1_base base.launch .. Note:: Note that in the ''base.launch'' file the target ip needs to be changed to 192.168.123.161 when connect to Go1 via LAN where as ip will be ``192.168.12.1`` when connected via WLAN. Similarly, target port should be 8082 and working mode will be high_level. With ``base.launch`` launches a communication channel between the robot and remote PC. Then later in */base_node/cmd_vel* a ROS node is run. :: Node [high_level_driver] Publications: state [go1_legged_msgs/HighState] Subscriptions: cmd_vel [geometry_msgs/Twist] Services: set_body_pose [go1_legged_msgs/SetMode] The robot pose can be set using the robot ``set_body_pose`` service. Robot state is published in ``state`` topic. This message contains a lot of information. For more information see `high state message `__. **Using the driver** The node subscribes to ``base_cmd_vel`` topic. Here special attention needs to be paid. As the robot is holonimic so different ``Twist`` message fields determine different movement. A nice tool here would be `teleop\_twist\_keyboard `__. Here in the teleop holonomic and non holonomic modes can be used(Be aware key strokes and their usage). Low level mode ~~~~~~~~~~~~~~ In this mode all the motors can be controlled directly. For that one needs to first change the operation mode either to Servo mode or Electronic brake mode. When using the lowlevel it is necessary to switch the robot to normal mode:. When the robot is turned on and stands up on its own: 1. L2+B (Together) robot will get down 2. L1+L2+START (Together) At this point you can run the routine .. important:: The robot will fall over when running the low-level routine, please suspend the robot before using it! Low level mode has again three control modes: 1. Position 2. Velocity 3. Torque In low level mode joint level control can be achieved. In Quadruped Go1 this low level mode can be in three different levels i.e. Position, Velocity, Torque. All three of them can be used with this driver by publishing appropriate messages. Unlike high level mode robot communication is achieved inside the driver node so no seperate nodeshould run. After turning on the robot and connecting through lan run the followingcommand: .. code:: bash sudo su source ~/catkin_ws/devel/setup.bash roslaunch go1_base base.launch .. Note:: The ``base.launch`` file the target ip needs to be changed to ``192.168.123.10`` when connect to Go1 via LAN. Similarly, target port should be ``8007`` and working mode will be high_level. A node with follwoing information will be run: :: Node [low_level_driver] Publications: state [unitree_legged_msgs/LowState] joint_states [sensor_msgs/JointState] Subscriptions: joint_cmd [qre_msgs/JointCMD] Services: set_body_pose [qre_msgs/SetBodyPose] -> Not implemented yet set_control [qre_msgs/SetControl] The node subscribes to ``joint_cmd`` topic. Again here special attention to be paid as well for the joints. For joint sequence see `qre\_msgs `__ README. The driver publishes two topics state topic pubslihes the information from the robot. For more details see `low state .. message `__. Joint state messages are also published. ``set_control`` service is can change the robot three modes namely i.e. Position, Velocity, Torque(Case sensitive). For every control level here similar joint messages need to be filled in ``joint_cmd`` topic other fields are not considered. :: Position -> JointCMD.q JointCMD.Kd JointCMD.Kd Velocity -> JointCMD.dq JointCMD.Kp JointCMD.Kd Torque -> JointCMD.tau GO1 Base ======== This ros package contains the hardware drivers that communicate with motors of the GO1. This driver can be run on a remote PC. - For WLAN, High-level mode. .. code:: bash roslaunch go1_base base.launch working_mode:=high_level target_ip:=192.168.12.1 target_port:=8082 local_port:=8090 - For LAN, High-level mode. .. code:: bash roslaunch go1_base base.launch working_mode:=high_level target_ip:=192.168.123.161 target_port:=8082 local_port:=8090 - For LAN, Low-level mode. .. code:: bash roslaunch go1_base base.launch working_mode:=low_level target_ip:=192.168.123.10 target_port:=8007 local_port:=8090 GO1 Camera ========== This ros package contains the camera drivers that communicate with the GO1 cameras. .. code:: bash roslaunch go1_camera camera_13.launch roslaunch go1_camera camera_14.launch roslaunch go1_camera camera_15.launch GO1 Control =========== This ros package enables teleop for the Logitech controller. .. This ros package fuses the robots tracked wheels movement with the inertial measurment unit (IMU) using the extended kalman filter. .. Moreover, it provides the transforms from the robots base link to the odometry frame. .. code:: bash roslaunch go1_control teleop.launch GO1 Description =============== This is a ros package that contains the 3D models of the GO1. Additionally, the seperate 3D models are stitched together into a single entity via the universal robot description format (URDF). It contains the models for auxiliary components such as lidars as well. Additions to the robot's 3D model can be made in the ``xacro/robot.urdf.xacro``. To view the robot with simulated dummy drivers. You can run: .. code:: bash roslaunch go1_description bringup.launch .. note:: It is ideal to run this on your own PC when the robot is not attached just to adjust the position of your auxiliary components. The description is automatically launched with the base driver to show the perceived position of the legs with the robot. .. code:: bash roslaunch go1_description description.launch GO1 Legged Msgs --------------- This ros package contains custom ros messages used by the GO1 Base. GO1 Viz ------- This ros package is used for visualization of the robots current state both in simulation and in the real-hardware. .. code:: bash roslaunch go1_viz view_robot.launch