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Introduce b1z1_description: B1 quadruped + Z1 robotic arm #96

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Introduce b1z1_description: B1 quadruped + Z1 robotic arm #96

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594778f
Add xacro macro for Z1
paulblum Apr 29, 2024
3435263
Add xacro macro for B1
paulblum Apr 29, 2024
9f3e071
Add b1z1_description package
paulblum Apr 29, 2024
7e00616
add documentation
paulblum May 2, 2024
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94 changes: 94 additions & 0 deletions robots/b1_description/xacro/b1.xacro
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<?xml version="1.0"?>

<robot name="b1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">

<!-- B1 macro: describes Unitree B1 quadruped robot -->
<xacro:macro name="b1">

<xacro:include filename="$(find b1_description)/xacro/const.xacro"/>
<xacro:include filename="$(find b1_description)/xacro/materials.xacro"/>
<xacro:include filename="$(find b1_description)/xacro/leg.xacro"/>

<!-- Rotor related joint and link is only for demonstrate location. -->
<!-- Actually, the rotor will rotate and the joint is not fixed. Reduction ratio should be considered. -->

<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</visual>
</link>

<joint name="floating_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/>
<child link="trunk"/>
</joint>

<link name="trunk">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/trunk.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="${trunk_length} ${trunk_width} ${trunk_height}"/>
</geometry>
</collision>
<!-- <collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/trunk.dae" scale="1 1 1"/>
</geometry>
</collision> -->
<inertial>
<origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/>
<mass value="${trunk_mass}"/>
<inertia
ixx="${trunk_ixx}" ixy="${trunk_ixy}" ixz="${trunk_ixz}"
iyy="${trunk_iyy}" iyz="${trunk_iyz}"
izz="${trunk_izz}"/>
</inertial>
</link>

<joint name="imu_joint" type="fixed">
<parent link="trunk"/>
<child link="imu_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>

<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
</link>

<xacro:leg name="FR" mirror="-1" mirror_dae= "False" front_hind="1" front_hind_dae="True" />
<xacro:leg name="FL" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True" />
<xacro:leg name="RR" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False" />
<xacro:leg name="RL" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False" />

</xacro:macro>

</robot>
97 changes: 11 additions & 86 deletions robots/b1_description/xacro/robot.xacro
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<?xml version="1.0"?>

<!-- b1_description: Unitree B1 quadruped robot -->
<robot name="b1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:include filename="$(find b1_description)/xacro/const.xacro"/>
<xacro:include filename="$(find b1_description)/xacro/materials.xacro"/>
<xacro:include filename="$(find b1_description)/xacro/leg.xacro"/>
<!-- define arguments -->
<xacro:arg name="DEBUG" default="false"/> <!-- debug mode switch -->

<!-- include xacro files -->
<xacro:include filename="$(find b1_description)/xacro/b1.xacro"/>
<xacro:include filename="$(find b1_description)/xacro/gazebo.xacro"/>

<!-- Rotor related joint and link is only for demonstrate location. -->
<!-- Actually, the rotor will rotate and the joint is not fixed. Reduction ratio should be considered. -->
<!-- B1 macro: expands to describe B1 quadruped robot -->
<xacro:b1/>

<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
<!-- debug mode configuration -->
<xacro:if value="$(arg DEBUG)">
<!-- statically affix B1 base to world; i.e. "hang up" the robot -->
<link name="world"/>
<joint name="base_static_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="base"/>
</joint>
</xacro:if>

<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</visual>
</link>

<joint name="floating_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/>
<child link="trunk"/>
</joint>

<link name="trunk">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/trunk.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="${trunk_length} ${trunk_width} ${trunk_height}"/>
</geometry>
</collision>
<!-- <collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/trunk.dae" scale="1 1 1"/>
</geometry>
</collision> -->
<inertial>
<origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/>
<mass value="${trunk_mass}"/>
<inertia
ixx="${trunk_ixx}" ixy="${trunk_ixy}" ixz="${trunk_ixz}"
iyy="${trunk_iyy}" iyz="${trunk_iyz}"
izz="${trunk_izz}"/>
</inertial>
</link>

<joint name="imu_joint" type="fixed">
<parent link="trunk"/>
<child link="imu_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>

<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
</link>

<xacro:leg name="FR" mirror="-1" mirror_dae= "False" front_hind="1" front_hind_dae="True" />
<xacro:leg name="FL" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True" />
<xacro:leg name="RR" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False" />
<xacro:leg name="RL" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False" />

<!-- <xacro:stairs stairs="15" xpos="0" ypos="2.0" zpos="0" /> -->
</xacro:if>

</robot>
4 changes: 4 additions & 0 deletions robots/b1z1_description/CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
project(b1z1_description)

find_package(catkin REQUIRED)
105 changes: 105 additions & 0 deletions robots/b1z1_description/config/robot_control.yaml
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b1z1_gazebo:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 1000

# FL Controllers ---------------------------------------
FL_hip_controller:
type: unitree_legged_control/UnitreeJointController
joint: FL_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}

FL_thigh_controller:
type: unitree_legged_control/UnitreeJointController
joint: FL_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}

FL_calf_controller:
type: unitree_legged_control/UnitreeJointController
joint: FL_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}

# FR Controllers ---------------------------------------
FR_hip_controller:
type: unitree_legged_control/UnitreeJointController
joint: FR_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}

FR_thigh_controller:
type: unitree_legged_control/UnitreeJointController
joint: FR_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}

FR_calf_controller:
type: unitree_legged_control/UnitreeJointController
joint: FR_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}

# RL Controllers ---------------------------------------
RL_hip_controller:
type: unitree_legged_control/UnitreeJointController
joint: RL_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}

RL_thigh_controller:
type: unitree_legged_control/UnitreeJointController
joint: RL_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}

RL_calf_controller:
type: unitree_legged_control/UnitreeJointController
joint: RL_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}

# RR Controllers ---------------------------------------
RR_hip_controller:
type: unitree_legged_control/UnitreeJointController
joint: RR_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}

RR_thigh_controller:
type: unitree_legged_control/UnitreeJointController
joint: RR_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}

RR_calf_controller:
type: unitree_legged_control/UnitreeJointController
joint: RR_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}

# Z1 Controllers ---------------------------------------
Joint01_controller:
type: unitree_legged_control/UnitreeJointController
joint: joint1
pid: {p: 300.0, i: 0.0, d: 5.0}

Joint02_controller:
type: unitree_legged_control/UnitreeJointController
joint: joint2
pid: {p: 300.0, i: 0.0, d: 5.0}

Joint03_controller:
type: unitree_legged_control/UnitreeJointController
joint: joint3
pid: {p: 300.0, i: 0.0, d: 5.0}

Joint04_controller:
type: unitree_legged_control/UnitreeJointController
joint: joint4
pid: {p: 300.0, i: 0.0, d: 5.0}

Joint05_controller:
type: unitree_legged_control/UnitreeJointController
joint: joint5
pid: {p: 300.0, i: 0.0, d: 5.0}

Joint06_controller:
type: unitree_legged_control/UnitreeJointController
joint: joint6
pid: {p: 300.0, i: 0.0, d: 5.0}

gripper_controller:
type: unitree_legged_control/UnitreeJointController
joint: jointGripper
pid: {p: 300.0, i: 0.0, d: 5.0}
73 changes: 73 additions & 0 deletions robots/b1z1_description/launch/b1z1_gazebo.launch
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<launch>
<arg name="wname" default="earth"/>
<arg name="rname" default="b1z1"/>
<arg name="robot_path" value="(find $(arg rname)_description)"/>
<arg name="dollar" value="$"/>

<arg name="paused" default="true"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
<arg name="user_debug" default="false"/>
<arg name="UnitreeGripperYN" default="true"/>

<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find unitree_gazebo)/worlds/$(arg wname).world"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="headless" value="$(arg headless)"/>
</include>

<!-- Load the URDF into the ROS Parameter Server -->
<param name="robot_description"
command="$(find xacro)/xacro --inorder '$(arg dollar)$(arg robot_path)/xacro/robot.xacro'
DEBUG:=$(arg user_debug) UnitreeGripper:=$(arg UnitreeGripperYN)"/>

<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
<!-- Set trunk and joint positions at startup -->
<node pkg="gazebo_ros" type="spawn_model" name="urdf_spawner" respawn="false" output="screen"
args="-urdf -z 0.75 -model $(arg rname)_gazebo -param robot_description -unpause"/>

<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(arg dollar)$(arg robot_path)/config/robot_control.yaml" command="load"/>

<!-- load the controllers -->
<group unless="$(arg UnitreeGripperYN)">
<node pkg="controller_manager" type="spawner" name="controller_spawner" respawn="false"
output="screen" ns="/$(arg rname)_gazebo" args="joint_state_controller
Joint01_controller Joint02_controller Joint03_controller
Joint04_controller Joint05_controller Joint06_controller
FL_hip_controller FL_thigh_controller FL_calf_controller
FR_hip_controller FR_thigh_controller FR_calf_controller
RL_hip_controller RL_thigh_controller RL_calf_controller
RR_hip_controller RR_thigh_controller RR_calf_controller"/>
</group>

<group if="$(arg UnitreeGripperYN)">
<node pkg="controller_manager" type="spawner" name="controller_spawner" respawn="false"
output="screen" ns="/$(arg rname)_gazebo" args="joint_state_controller
Joint01_controller Joint02_controller Joint03_controller
Joint04_controller Joint05_controller Joint06_controller
gripper_controller
FL_hip_controller FL_thigh_controller FL_calf_controller
FR_hip_controller FR_thigh_controller FR_calf_controller
RL_hip_controller RL_thigh_controller RL_calf_controller
RR_hip_controller RR_thigh_controller RR_calf_controller"/>
</group>

<!-- convert joint states to TF transforms for rviz, etc -->
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"
respawn="false" output="screen">
<remap from="/joint_states" to="/$(arg rname)_gazebo/joint_states"/>
</node>

<!-- load the parameter unitree_controller -->
<include file="$(find unitree_controller)/launch/set_ctrl.launch">
<arg name="rname" value="$(arg rname)"/>
</include>

</launch>
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