UnitreeHardware

The ros2_control implementation for any kind of Unitree motors.

The dynamixel_hardware package is the SystemInterface implementation for the multiple ROBOTIS Dynamixel servos.

It was only tested "GO-M8010-6". "A1" and "B1" were not tested.

Set up

First install ROS 2 Humble on Ubuntu 22.04. Then follow the instruction below.

$ source /opt/ros/humble/setup.bash
$ mkdir -p ~/ros/${YourWorkSpace} && cd ~/ros/${YourWorkSpace}/src
$ git clone /~https://github.com/KazuyaOguma18/unitree_hardware.git
$ cd -
$ rosdep install --from-paths src --ignore-src -r -y
$ colcon build --symlink-install
$ . install/setup.bash

Usage

Start controllers

Dummy

$ ros2 launch unitree_hardware dummy.launch.py

SingleMotor

$ ros2 launch unitree_hardware single_motor.launch.py

Send commands

Position

$ ros2 topic pub /position_controller/commands std_msgs/msg/Float64MultiArray "layout:
  dim: []
  data_offset: 0
data: [2.0]"

Velocity

$ ros2 topic pub /velocity_controller/commands std_msgs/msg/Float64MultiArray "layout:
  dim: []
  data_offset: 0
data: [2.0]"

Parameters

These parameters are described in urdf/*.ros2_control.urdf.xacro

<ros2_control name="hoge" type="system">
  <hardware>
    <plugin>unitree_hardware/UnitreeHardware</plugin>
    <param name="serial_interface">/dev/ttyUSB0</param>  # USB port name 
    <param name="use_dummy">false</param>                # If true, it is in dummy mode and motors are not controlled
  </hardware>
  <joint name="pan_joint">
    <param name="id">0</param>
    <param name="motor_type">GO-M8010-6</param>          # GO-M8010-6, A1, B1
    <param name="pos_gain">0.1</param>                   # position gain, Make it too big and it becomes unstable.
    <param name="vel_gain">0.01</param>                  # velocity gain, Make it too big and it becomes unstable.
    <param name="temperature_limit">80.</param>          # temperature limit, when the motor' temperature is exceeded it, the motor stops.
    <command_interface name="position"/>
    <command_interface name="velocity"/>
    <command_interface name="effort"/>
    <state_interface name="position"/>
    <state_interface name="velocity"/>
    <state_interface name="effort"/>
  </joint>
  <transmission name="pan_joint_transmission">
    <plugin>transmission_interface/SimpleTransmission</plugin>
    <actuator name="pan_motor" role="pan_motor"/>
    <joint name="pan_joint" role="pan_joint">
        <mechanical_reduction>1</mechanical_reduction>
    </joint>
  </transmission>
</ros2_control>