{"id":344582,"date":"2023-06-23T17:58:52","date_gmt":"2023-06-23T08:58:52","guid":{"rendered":"https:\/\/techshare.co.jp\/faq\/?p=344582"},"modified":"2023-06-27T10:46:50","modified_gmt":"2023-06-27T01:46:50","slug":"go1_gazebo","status":"publish","type":"post","link":"https:\/\/techshare.co.jp\/faq\/unitree\/go1_gazebo.html","title":{"rendered":"\u3010Unitree Go1\u3011Go1 \u3092 Gazebo\u4e0a\u3067\u52d5\u304b\u3059"},"content":{"rendered":"

1. \u306f\u3058\u3081\u306b<\/span><\/h4>\n

Gazebo\u306f\u3001\u30ed\u30dc\u30c3\u30c8\u306e\u5236\u5fa1\u30923D\u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u304d\u308b\u30c4\u30fc\u30eb\u3067\u3059\u3002Unitree \u793e\u306e ROS \u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u5229\u7528\u3057\u3066\u3001Gazebo\u4e0a\u3067\u30ed\u30dc\u30c3\u30c8\u306e\u30ed\u30fc\u30ec\u30d9\u30eb\u5236\u5fa1\uff08\u30c8\u30eb\u30af\u3001\u4f4d\u7f6e\u3001\u89d2\u901f\u5ea6\u306e\u5236\u5fa1\uff09\u3092\u884c\u3046\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n

\u672c\u7a3f\u3067\u306f\u3001Unitree Go1\u3092Gazebo\u4e0a\u3067\u52d5\u4f5c\u3055\u305b\u308b\u65b9\u6cd5\u3092\u3054\u6848\u5185\u3057\u307e\u3059\u3002<\/a><\/p>\n

 <\/p>\n

\n

2. \u74b0\u5883<\/span><\/h4>\n<\/div>\n
\n

\u4ee5\u4e0b\u306e\u74b0\u5883\u306b\u3066\u3001\u3053\u306e\u624b\u9806\u304c\u6709\u52b9\u3067\u3042\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u3066\u3044\u307e\u3059\u3002<\/span><\/p>\n

OS: Windows 10 (64bit)
\nWSL2: Ubuntu-20.04
\nROS: Noetic
\nGazebo: 11.11.0
\nunitree_legged_sdk: v3.8.6<\/p>\n

 <\/p>\n

3. \u624b\u9806<\/span><\/h4>\n
3.1 ROS\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/span><\/h6>\n

\u672c\u7a3f\u3067\u306f\u3001ROS Noetic \u3092\u4f7f\u7528\u3057\u307e\u3059\u3002\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u306e\u5fc5\u8981\u304c\u3042\u308b\u5834\u5408\u306f\u3001\u4ee5\u524d\u306e\u8a18\u4e8b<\/a>\u306e 3-3. ROS Noetic \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u30013-4. ROS \u306e\u74b0\u5883\u8a2d\u5b9a\u3092\u3054\u53c2\u7167\u304f\u3060\u3055\u3044\u3002<\/p>\n

3.2 \u4f9d\u5b58\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/span><\/h6>\n

\u307e\u305a\u3001Unitree\u793e\u306e unitree_legged_sdk \u3068 unitree_ros_to_real \u3092\u4e0b\u8a18\u306e\u30ec\u30dd\u30b8\u30c8\u30ea\u304b\u3089\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002<\/span><\/p>\n

unitree_legged_sdk\uff1a <\/span>https:\/\/github.com\/unitreerobotics\/unitree_legged_sdk\/tree\/go1<\/a>
\nunitree_ros_to_real\uff1a https:\/\/github.com\/unitreerobotics\/unitree_ros_to_real\/tree\/master<\/a><\/span><\/p>\n

3.3 ROS\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u30d3\u30eb\u30c9<\/span><\/h6>\n

(1) Unitree\u793e\u304c\u51fa\u3057\u3066\u3044\u308b unitree_ros<\/a> \u306e\u30ec\u30dd\u30b8\u30c8\u30ea\u304b\u3089\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/p>\n

(2) \u5fc5\u8981\u3068\u306a\u308b\u30c4\u30fc\u30eb\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u3002\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u3001<\/p>\n

\n
$ sudo apt-get install ros-noetic-controller-interface ros-noetic-gazebo-ros-control ros-noetic-joint-state-controller ros-noetic-effort-controllers ros-noetic-joint-trajectory-controller<\/code><\/pre>\n<\/div>\n
(3) \u3053\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u306e unitree_gazebo\/worlds\/stairs.world \u30d5\u30a1\u30a4\u30eb\u3092\u958b\u304d\u3001\u4e0b\u90e8\u306b\u3042\u308b<\/p>\n
\n
<include>\r\n\u3000\u3000\u3000<uri>model:\/\/\/home\/unitree\/catkin_ws\/src\/unitree_ros\/unitree_gazebo\/worlds\/building_editor_models\/stairs<\/uri>\r\n<\/include><\/code><\/pre>\n<\/div>\n
\u306e\u30d1\u30b9\u3092\u500b\u4ebaPC\u3067\u306e building_editor_models\/stairs<\/code>\u00a0\u306e\u30d1\u30b9\u306b\u5909\u66f4\u3059\u308b\u3002\u305f\u3068\u3048\u3070\u3001unitree_ros<\/code>\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u304c\/home\/username\/catkin_ws\/src<\/code>\u306b\u3042\u308b\u5834\u5408\u3001<\/p>\n
<uri>\/\/\/home\/username\/catkin_ws\/src\/unitree_ros\/unitree_gazebo\/worlds\/building_editor_models\/stairs<\/uri><\/code>\u3068\u5909\u66f4\u3002<\/span><\/p>\n
(4) \u30d3\u30eb\u30c9<\/p>\n
\n
cd ~\/catkin_ws\r\ncatkin_make<\/code><\/pre>\n<\/div>\n<\/div>\n
3.4 Gazebo\u3092\u8d77\u52d5<\/span><\/h6>\n
\n
Gazebo\u3092\u8d77\u52d5\u3059\u308b\u305f\u3081\u306b\u3001\u30bf\u30fc\u30df\u30ca\u30eb\u3067<\/p>\n
\n
$ roslaunch unitree_gazebo normal.launch rname:=go1 wname:=earth\r\n<\/code><\/pre>\n<\/div>\n<\/div>\n
\u3092\u5b9f\u884c\u3002\u30aa\u30d7\u30b7\u30e7\u30f3\u306e rname<\/code>\u3067\u306f\u30ed\u30dc\u30c3\u30c8\u306e\u7a2e\u985e\u3092laikago<\/code>(\u65e2\u5b9a),\u00a0<\/span>aliengo<\/code>,\u00a0<\/span>a1<\/code> ,\u00a0go1<\/code>\u306e\u4e2d\u304b\u3089\u6307\u5b9a\u3067\u304d\u307e\u3059\u3002wname<\/code>\u3067\u306f\u30ef\u30fc\u30eb\u30c9\u306e\u7a2e\u985e\u3092earth<\/code>(\u65e2\u5b9a),\u00a0space<\/code> , stairs<\/code>\u306e\u4e2d\u304b\u3089\u6307\u5b9a\u3067\u304d\u307e\u3059\u3002<\/span><\/p>\n
3.5 Go1\u3092\u52d5\u304b\u3059<\/span><\/h6>\n
\u30d1\u30c3\u30b1\u30fc\u30b8\u306b\u306f\u3001Gazebo\u4e0a\u306e\u30ed\u30dc\u30c3\u30c8\u3092\u5236\u5fa1\u3059\u308b\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u30b5\u30f3\u30d7\u30eb\u304c\u542b\u307e\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n
Gazebo\u3092\u8d77\u52d5\u3057\u305f\u5f8c\u3001\u5225\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067<\/p>\n
\n
$ rosrun unitree_controller unitree_servo<\/code><\/pre>\n<\/div>\n
\u3092\u5b9f\u884c\u3059\u308b\u3068\u3001\u5404\u95a2\u7bc0\u304c\u52d5\u304d\u30ed\u30dc\u30c3\u30c8\u304c\u7acb\u3061\u4e0a\u304c\u308a\u307e\u3059\u3002<\/p>\n
\"\"<\/p>\n
\u52a0\u3048\u3066\u3001\u4ee5\u4e0b\u306e2\u3064\u306e\u5236\u5fa1\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u5b9f\u884c\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n
    \n
  • \u30ed\u30dc\u30c3\u30c8\u306b\u5916\u4e71\u3092\u52a0\u3048\u308b<\/li>\n<\/ul>\n
    \n
    $ rosrun unitree_controller unitree_external_force<\/code><\/pre>\n<\/div>\n
    \u77e2\u5370\u30ad\u30fc\u3067x\u8ef8\u6b63\u8ca0\u3001y\u8ef8\u6b63\u8ca0\u304b\u3089\u5916\u4e71\u306e\u65b9\u5411\u3092\u6c7a\u3081\u308b\u3053\u3068\u304c\u3067\u304d\u3001\u30b9\u30da\u30fc\u30b9\u30ad\u30fc\u3067\u4e00\u5b9a\u30e2\u30fc\u30c9 (\u65e2\u5b9a) \u307e\u305f\u306f\u7a4d\u7b97\u30e2\u30fc\u30c9\u306b\u5909\u66f4\u3067\u304d\u307e\u3059\u3002\u7a4d\u7b97\u30e2\u30fc\u30c9\u3067\u5916\u4e71\u306e\u529b\u3092\u5f37\u304f\u3057\u3066\u3044\u304f\u3068\u3001\u3042\u308b\u7a0b\u5ea6\u3067\u30ed\u30dc\u30c3\u30c8\u304c\u5012\u308c\u308b\u306e\u304c\u89b3\u5bdf\u3067\u304d\u307e\u3059\u3002<\/p>\n
      \n
    • \u30ed\u30dc\u30c3\u30c8\u306e\u4f4d\u7f6e\u3084\u59ff\u52e2\u3092\u5909\u66f4\u3057\u3001\u539f\u70b9\u3092\u4e2d\u5fc3\u306b\u56de\u3089\u305b\u308b<\/li>\n<\/ul>\n
      \n
      $ rosrun unitree_controller unitree_move_kinetic<\/code><\/pre>\n<\/div>\n
       <\/p>\n
      4. \u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u5fdc\u7528<\/span><\/h4>\n
      $ rosrun unitree_controller unitree_servo<\/code>\u3067\u5b9f\u884c\u3055\u308c\u308b src\/servo.cpp \u3067\u306f\u3001\u540412\u95a2\u7bc0\u306e\u89d2\u5ea6\u60c5\u5831\u3092\u542b\u3080MotorCmd\u30e1\u30c3\u30bb\u30fc\u30b8\u3092\u914d\u4fe1\u3059\u308b\u30d1\u30d6\u30ea\u30c3\u30b7\u30e3\u30fc\u3092\u4f5c\u6210\u3057\u3001body.cpp \u3067\u6307\u5b9a\u3057\u305f\u89d2\u5ea6\u3078\u52d5\u304b\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n
      \u5404\u95a2\u7bc0\u306e\u540d\u79f0\u3068\u60c5\u5831<\/span><\/h6>\n
      \"\"4\u672c\u306e\u811a<\/strong><\/p>\n
        \n
      • FR: right front leg (\u524d\u53f3\u811a)<\/li>\n
      • FL: left front leg (\u524d\u5de6\u811a)<\/li>\n
      • RR: right rear leg (\u5f8c\u308d\u53f3\u811a)<\/li>\n
      • RL: left front leg (\u5f8c\u308d\u5de6\u811a)<\/li>\n<\/ul>\n
        3\u3064\u306e\u95a2\u7bc0\u3068\u305d\u306e\u6700\u5927\u6700\u5c0f\u89d2\u5ea6[\u30e9\u30b8\u30a2\u30f3]<\/strong><\/p>\n
          \n
        • Hip \u95a2\u7bc0: 1.047 ~ -1.047 (= 60\u00b0~-60\u00b0)<\/li>\n
        • Thigh \u95a2\u7bc0: 2.966\u00a0~ -0.663 (= 170\u00b0~-38\u00b0)<\/li>\n
        • Calf \u95a2\u7bc0: -0.837\u00a0~ -2.721 (= -48\u00b0~-156\u00b0)<\/li>\n<\/ul>\n
           <\/p>\n
          Hip \u306e\u56de\u8ee2\u8ef8\u306fx\u8ef8\u3001Thigh, Calf \u306e\u56de\u8ee2\u8ef8\u306fy\u8ef8\u3068\u306a\u3063\u3066\u304a\u308a\u3001\u6b63\u306e\u65b9\u5411\u306f\u53f3\u624b\u306e\u6cd5\u5247\u3067\u5b9a\u3081\u3089\u308c\u308b\u65b9\u5411\u3067\u3059\u3002\u811a\u304c\u76f4\u7acb\u3057\u3066\u3044\u308b\u72b6\u614b\u304c\u56de\u8ee2\u89d2\u5ea6\u306e\u30bc\u30ed\u3068\u3057\u3066\u5b9a\u3081\u3089\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n
           <\/p>\n
          \u52d5\u4f5c\u306e\u4f5c\u6210<\/span><\/h6>\n
          src\/body.cpp \u3067\u306f\u3001paramInit() \u95a2\u6570\u3092\u547c\u3073\u51fa\u3057MotorCmd\u306emode\u3084Kp, Kd\u306a\u3069\u306e\u5024\u3092\u8a2d\u5b9a\u3057\u305f\u5f8c\uff08\u65e2\u306b\u53c2\u8003\u5024\u304c\u4e0e\u3048\u3089\u308c\u3066\u3044\u307e\u3059\uff09\u3001stand() \u95a2\u6570\u5185\u3067\u7acb\u3061\u4e0a\u304c\u3063\u305f\u72b6\u614b\u306e\u5404\u95a2\u7bc0\u306e\u89d2\u5ea6\u3092\u5165\u529b\u3057\u3066\u3044\u307e\u3059\u3002moveAllPosition() \u95a2\u6570\u3067\u306f\u3001\u6307\u5b9a\u3055\u308c\u305f\u6642\u9593\u3092\u304b\u3051\u3066\u76ee\u6a19\u306e\u72b6\u614b\u307e\u3067\u5f90\u3005\u306b\u30ed\u30dc\u30c3\u30c8\u3092\u52d5\u304b\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n
          \"\"<\/p>\n
          pos<\/code> \u5909\u6570\u306e\u89d2\u5ea6\u306e\u5024\u306f\u305d\u308c\u305e\u308c\uff5bFR_hip, FR_thigh, FR_calf, FL_hip, FL_thigh, FL_calf, RR_hip, RR_thigh, RR_calf, RL_hip, RL_thigh, RL_calf} \u306b\u5bfe\u5fdc\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n
          gazebo\u3092\u8d77\u52d5\u3057\u305f\u3068\u304d\u306e\u521d\u671f\u306e\u95a2\u7bc0\u306e\u89d2\u5ea6\u306f\u3001\u304a\u304a\u3088\u305d pos[12] = {-0.35, 1.24, -2.818, 0.35, 1.24, -2.818, -0.35, 1.24, -2.818, 0.35, 1.24, -2.818}<\/code>\u3068\u306a\u3063\u3066\u3044\u307e\u3059\u3002<\/p>\n
          stand() \u3068\u540c\u69d8\u306b\u5404\u95a2\u7bc0\u306e\u89d2\u5ea6\u3092\u6307\u5b9a\u3059\u308c\u3070\u3001\u4f8b\u3068\u3057\u3066\u4ee5\u4e0b\u306e\u52d5\u4f5c\u3092\u78ba\u8a8d\u3059\u308b\u3053\u3068\u3082\u3067\u304d\u307e\u3059\u3002<\/p>\n
            \n
          • \u4f4e\u59ff\u52e2<\/li>\n<\/ul>\n
            pos[12] = {0.0, 1.0, -2, -0.0, 1.0, -2, 0.0, 1.0, -2, -0.0, 1.0, -2}<\/code><\/p>\n
            \"\"<\/p>\n
              \n
            • \u306d\u3058\u308a\u306e\u59ff\u52e2<\/li>\n<\/ul>\n
              pos[12] = {0.40, 0.65, -1.57, 0.21, 0.87, -1.3, -0.244, 0.44, -1.3, -0.44, 0.98, -1.57}<\/code><\/p>\n
              \"\"<\/p>\n
               <\/p>\n
              \u672c\u7a3f\u3067\u306f\u3001Go1\u3092Gazebo\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u4e0a\u3067\u52d5\u304b\u3059\u65b9\u6cd5\u3092\u3054\u7d39\u4ecb\u3057\u307e\u3057\u305f\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"
              1. \u306f\u3058\u3081\u306b Gazebo\u306f\u3001\u30ed\u30dc\u30c3\u30c8\u306e\u5236\u5fa1\u30923D\u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u304d\u308b\u30c4\u30fc\u30eb\u3067\u3059\u3002Unitree \u793e\u306e ROS \u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u5229\u7528\u3057\u3066\u3001Gazebo\u4e0a\u3067\u30ed\u30dc\u30c3\u30c8\u306e\u30ed\u30fc\u30ec\u30d9\u30eb\u5236\u5fa1\uff08\u30c8\u30eb\u30af\u3001\u4f4d\u7f6e\u3001\u89d2\u901f\u5ea6 …<\/p>\n","protected":false},"author":20,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[31,26],"tags":[],"class_list":["post-344582","post","type-post","status-publish","format-standard","hentry","category-go1","category-unitree"],"_links":{"self":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/344582","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/users\/20"}],"replies":[{"embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/comments?post=344582"}],"version-history":[{"count":21,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/344582\/revisions"}],"predecessor-version":[{"id":344648,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/344582\/revisions\/344648"}],"wp:attachment":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/media?parent=344582"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/categories?post=344582"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/tags?post=344582"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}