tita_locomotion

语言：English / 中文

​ 机器人运动控制管理。主要分为以下4个模块:

• device：硬件bridge, 目前处理遥控器下发mcu, 读取mcu的motors及imu sensor信息．
• interaction: 键盘及joy交互
• libraries：第三方库, ．
• locomotion_bringup：机器人运动控制启动文件．
• locomotion_msgs: 机器人运动控制消息定义, 目前仅为调试信息。
• tita_controllers：继承于ros2_control框架中controller_interface，处理hardware_interface数据并得到控制指令发送到hardware_interface。
• tita_description：机器人描述文件存放位置。
• tita_webots_ros2：存放机器人仿真环境的位置, 托管在git@git.ddt.dev:rbt/alg/tita_webots_ros2.git

Basic Information

Installation method	Supported platform[s]
Source	Jetpack 6.0 , ros-humble

---

Subscribed

1. /${tita_ns}/command/manager/cmd_key Topic type: std_msgs/msg/String 机器人状态机切换: 状态机包含以下: transform_up, transform_down, stop, charge, jump

   # 站立
   ros2 topic pub -1 /${tita_ns}/command/manager/cmd_key std_msgs/msg/String "data: 'transform_up'"
   # 趴下
   ros2 topic pub -1 /${tita_ns}/command/manager/cmd_key std_msgs/msg/String "data: 'transform_down'"
   # 紧急停止
   ros2 topic pub -1 /${tita_ns}/command/manager/cmd_key std_msgs/msg/String "data: 'stop'"
   # 跳跃蓄能
   ros2 topic pub -1 /${tita_ns}/command/manager/cmd_key std_msgs/msg/String "data: 'charge'"
   # 跳跃
   ros2 topic pub -1 /${tita_ns}/command/manager/cmd_key std_msgs/msg/String "data: 'jump'"

2. /${tita_ns}/command/manager/cmd_pose
   Topic type: geometry_msgs/msg/PoseStamped 机器人头部位置姿态控制指令,包括调节高度,调节劈叉,roll, pitch等

   ros2 topic pub -1 /${tita_ns}/command/manager/cmd_pose geometry_msgs/msg/PoseStamped "{
       header: {
           stamp: {
               sec: 0, 
               nanosec: 0}, 
           frame_id: 'world'}, 
       pose: 
       {
           position: {x: 0.0, y: 0.0, z: 0.1}, # only valid in z，range in 0.1 to 0.3
           orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}
       }
       }"

3. /${tita_ns}/command/manager/cmd_twist Topic type: geometry_msgs/msg/Twist 机器人速度控制指令,包括linear, angular等, 仅linear.x和angular.z有效

   ros2 topic pub -1 /${tita_ns}/command/manager/cmd_twist geometry_msgs/msg/Twist "{
       linear: {x: 0.1, y: 0.0, z: 0.0}, 
       angular: {x: 0.0, y: 0.0, z: 0.1}}"

Published

1. /${tita_ns}/joint_states Topic type: sensor_msgs/msg/JointState 打印机器人关节信息, 包含position, velocity, effort

   # ros2 topic echo /${tita_ns}/joint_states
   header:
   stamp:
       sec: 1728640435
       nanosec: 207354406
   frame_id: ''
   name:
   - joint_left_leg_1
   - joint_left_leg_2
   - joint_left_leg_3
   - joint_left_leg_4
   - joint_right_leg_1
   - joint_right_leg_2
   - joint_right_leg_3
   - joint_right_leg_4
   position:
   - 0.44081687927246094
   - 1.0672786235809326
   - -2.6032021045684814
   - 2.209383249282837
   - -0.5037123560905457
   - 1.1171343326568604
   - -2.625253915786743
   - 0.26672905683517456
   velocity:
   - -0.0
   - 0.010471980087459087
   - -0.0
   - 0.0
   - 0.0
   - -0.0
   - -0.0
   - -0.0
   effort:
   - -0.0
   - 0.030666524544358253
   - -0.0
   - -0.02499999850988388
   - 0.0
   - -0.0
   - -0.0
   - 0.016919462010264397
   ---

2. /${tita_ns}/imu_sensor_broadcaster/imu Topic type: sensor_msgs/msg/Imu 打印机器人imu sensor信息, 包含orientation, angular_velocity, linear_acceleration

   # ros2 topic echo /${tita_ns}/imu_sensor_broadcaster/imu
   header:
   stamp:
       sec: 1728640659
       nanosec: 77332444
   frame_id: imu
   orientation:
   x: -0.004162624944001436
   y: 0.0013127117417752743
   z: -0.12123985588550568
   w: 0.9927361011505127
   orientation_covariance:
   - 0.0
   - 0.0
   - 0.0
   - 0.0
   - 0.0
   - 0.0
   - 0.0
   - 0.0
   - 0.0
   angular_velocity:
   x: -0.009841999970376492
   y: -0.004255999810993671
   z: -0.004788000136613846
   angular_velocity_covariance:
   - 0.0
   - 0.0
   - 0.0
   - 0.0
   - 0.0
   - 0.0
   - 0.0
   - 0.0
   - 0.0
   linear_acceleration:
   x: 0.0
   y: -0.08621344715356827
   z: 9.785225868225098
   linear_acceleration_covariance:
   - 0.0
   - 0.0
   - 0.0
   - 0.0
   - 0.0
   - 0.0
   - 0.0
   - 0.0
   - 0.0
   ---

3. /${tita_ns}/locomotion/motors_status Topic type: diagnostic_msgs/msg/DiagnosticArray 打印机器人motors信息, 目前为在线Online和离线Offline

   header:
   stamp:
       sec: 1730789405
       nanosec: 505897734
   frame_id: motor_group
   status:
   - level: "\x02"
   name: Motors Status Diagnostic Info
   message: Motors Status
   hardware_id: ''
   values:
   - key: joint_left_leg_1
       value: Online
   - key: joint_left_leg_2
       value: Online
   - key: joint_left_leg_3
       value: Online
   - key: joint_left_leg_4
       value: Online
   - key: joint_right_leg_1
       value: Online
   - key: joint_right_leg_2
       value: Online
   - key: joint_right_leg_3
       value: Online
   - key: joint_right_leg_4
       value: Offline

4. /${tita_ns}/locomotion/body/fsm_mode Topic type: std_msgs/msg/String 打印机器人状态机信息, 包含idle,charge,jump,balance,transform_down,transform_up,suspending,crash

Build Package

# if have extra dependencies
# apt install ros-humble-ros2-control ros-humble-ros2-controllers ros-humble-pinocchio 
colcon build --packages-up-to locomotion_bringup robot_inertia_calculator template_ros2_controller tita_controller
source install/setup.bash
ros2 launch locomotion_bringup hw_bringup.launch.py  #　不正常启动　使用　killall -9 gzserver

Simulation with GAZEBO or WEBOTS

cd tita_description
sudo mkdir -p /usr/share/robot_description
sudo cp -r src/tita_locomotion/tita_description/tita /usr/share/robot_description/
sudo cp -r src/tita_locomotion/tita_description/tower /usr/share/robot_description/

# cd到src目录的上一级目录
source /opt/ros/humble/setup.bash
colcon build --packages-up-to gazebo_bridge webots_bridge
source install/setup.bash
# gazebo
ros2 launch locomotion_bringup sim_bringup.launch.py sim_env:=gazebo 
# webots
ros2 launch locomotion_bringup sim_bringup.launch.py sim_env:=webots # 使用的控制器都为tita_controller wbc