Unitree Go1을 Gazebo에서 작동시키기 : 1. 설치

Environment

• Ubuntu 20.04
• ROS1 Noetic
• RTX 3070

https://github.com/unitreerobotics/unitree_ros

GitHub - unitreerobotics/unitree_ros

 

mkdir -p ~/unitree_ws/src
cd ~/unitree_ws/src
catkin_init_workspace

git clone https://github.com/unitreerobotics/unitree_legged_sdk.git
git clone https://github.com/unitreerobotics/unitree_guide
git clone https://github.com/unitreerobotics/unitree_ros_to_real
git clone https://github.com/unitreerobotics/unitree_ros

sudo apt install ros-noetic-controller-interface \
    ros-noetic-gazebo-ros-control \
    ros-noetic-joint-state-controller \
    ros-noetic-effort-controllers \
    ros-noetic-joint-trajectory-controller \
    ros-noetic-move-base \
    ros-noetic-move-base-msgs \
    ros-noetic-tf2-geometry-msgs \
    ros-noetic-navigation \
    ros-noetic-teb-local-planner \
    ros-noetic-robot-localization \
    ros-noetic-robot-state-publisher
    
# LCM 설치
sudo apt update
sudo apt install -y \
    build-essential \
    libglib2.0-dev \
    python3-dev \
    python-dev-is-python3 \
    openjdk-8-jdk


cd ~/libs
git clone https://github.com/lcm-proj/lcm.git
mkdir build
cd build
cmake ..
make
sudo make install
sudo ldconfig

# <Python.h>를 찾을 수 없다는 에러가 뜰 경우 (python3-dev를 깔아도 안 될 경우)
# cmake를 업그레이드하기 (내 경우에는 3.16 -> 3.22)
   
cd unitree_legged_sdk
mkdir build
cd build
cmake ..
make

cd ~/unitree_ws
catkin_make

source setup.bash

 

다 설치한 후에 시뮬레이션을 실행하려면 다음 커맨드를 실행한다. 

 

roslaunch unitree_gazebo normal.launch rname:=go1 wname:=stairs

 

그럼 이렇게 gazebo world에서 로봇을 확인할 수 있다. 

 

토픽을 확인해 보면 다음과 같은 것들이 발행되고 있다. 

/apply_force/trunk
/cam1/point_cloud_face
/cam2/point_cloud_chin
/cam3/point_cloud_left
/cam4/point_cloud_right
/cam5/point_cloud_rearDown
/camera_chin/color/camera_info
/camera_chin/color/image_raw
/camera_chin/color/image_raw/compressed
/camera_chin/color/image_raw/compressed/parameter_descriptions
/camera_chin/color/image_raw/compressed/parameter_updates
/camera_chin/color/image_raw/compressedDepth
/camera_chin/color/image_raw/compressedDepth/parameter_descriptions
/camera_chin/color/image_raw/compressedDepth/parameter_updates
/camera_chin/color/image_raw/theora
/camera_chin/color/image_raw/theora/parameter_descriptions
/camera_chin/color/image_raw/theora/parameter_updates
/camera_chin/depth/image_raw
/camera_chin_ir/depth/camera_info
/camera_chin_ir/parameter_descriptions
/camera_chin_ir/parameter_updates
/camera_face/color/camera_info
/camera_face/color/image_raw
/camera_face/color/image_raw/compressed
/camera_face/color/image_raw/compressed/parameter_descriptions
/camera_face/color/image_raw/compressed/parameter_updates
/camera_face/color/image_raw/compressedDepth
/camera_face/color/image_raw/compressedDepth/parameter_descriptions
/camera_face/color/image_raw/compressedDepth/parameter_updates
/camera_face/color/image_raw/theora
/camera_face/color/image_raw/theora/parameter_descriptions
/camera_face/color/image_raw/theora/parameter_updates
/camera_face/depth/image_raw
/camera_face_ir/depth/camera_info
/camera_face_ir/parameter_descriptions
/camera_face_ir/parameter_updates
/camera_left/color/camera_info
/camera_left/color/image_raw
/camera_left/color/image_raw/compressed
/camera_left/color/image_raw/compressed/parameter_descriptions
/camera_left/color/image_raw/compressed/parameter_updates
/camera_left/color/image_raw/compressedDepth
/camera_left/color/image_raw/compressedDepth/parameter_descriptions
/camera_left/color/image_raw/compressedDepth/parameter_updates
/camera_left/color/image_raw/theora
/camera_left/color/image_raw/theora/parameter_descriptions
/camera_left/color/image_raw/theora/parameter_updates
/camera_left/depth/image_raw
/camera_left_ir/depth/camera_info
/camera_left_ir/parameter_descriptions
/camera_left_ir/parameter_updates
/camera_rearDown/color/camera_info
/camera_rearDown/color/image_raw
/camera_rearDown/color/image_raw/compressed
/camera_rearDown/color/image_raw/compressed/parameter_descriptions
/camera_rearDown/color/image_raw/compressed/parameter_updates
/camera_rearDown/color/image_raw/compressedDepth
/camera_rearDown/color/image_raw/compressedDepth/parameter_descriptions
/camera_rearDown/color/image_raw/compressedDepth/parameter_updates
/camera_rearDown/color/image_raw/theora
/camera_rearDown/color/image_raw/theora/parameter_descriptions
/camera_rearDown/color/image_raw/theora/parameter_updates
/camera_rearDown/depth/image_raw
/camera_rearDown_ir/depth/camera_info
/camera_rearDown_ir/parameter_descriptions
/camera_rearDown_ir/parameter_updates
/camera_right/color/camera_info
/camera_right/color/image_raw
/camera_right/color/image_raw/compressed
/camera_right/color/image_raw/compressed/parameter_descriptions
/camera_right/color/image_raw/compressed/parameter_updates
/camera_right/color/image_raw/compressedDepth
/camera_right/color/image_raw/compressedDepth/parameter_descriptions
/camera_right/color/image_raw/compressedDepth/parameter_updates
/camera_right/color/image_raw/theora
/camera_right/color/image_raw/theora/parameter_descriptions
/camera_right/color/image_raw/theora/parameter_updates
/camera_right/depth/image_raw
/camera_right_ir/depth/camera_info
/camera_right_ir/parameter_descriptions
/camera_right_ir/parameter_updates
/clock
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/performance_metrics
/gazebo/set_link_state
/gazebo/set_model_state
/go1_gazebo/FL_calf_controller/command
/go1_gazebo/FL_calf_controller/joint_wrench
/go1_gazebo/FL_calf_controller/state
/go1_gazebo/FL_hip_controller/command
/go1_gazebo/FL_hip_controller/joint_wrench
/go1_gazebo/FL_hip_controller/state
/go1_gazebo/FL_thigh_controller/command
/go1_gazebo/FL_thigh_controller/joint_wrench
/go1_gazebo/FL_thigh_controller/state
/go1_gazebo/FR_calf_controller/command
/go1_gazebo/FR_calf_controller/joint_wrench
/go1_gazebo/FR_calf_controller/state
/go1_gazebo/FR_hip_controller/command
/go1_gazebo/FR_hip_controller/joint_wrench
/go1_gazebo/FR_hip_controller/state
/go1_gazebo/FR_thigh_controller/command
/go1_gazebo/FR_thigh_controller/joint_wrench
/go1_gazebo/FR_thigh_controller/state
/go1_gazebo/RL_calf_controller/command
/go1_gazebo/RL_calf_controller/joint_wrench
/go1_gazebo/RL_calf_controller/state
/go1_gazebo/RL_hip_controller/command
/go1_gazebo/RL_hip_controller/joint_wrench
/go1_gazebo/RL_hip_controller/state
/go1_gazebo/RL_thigh_controller/command
/go1_gazebo/RL_thigh_controller/joint_wrench
/go1_gazebo/RL_thigh_controller/state
/go1_gazebo/RR_calf_controller/command
/go1_gazebo/RR_calf_controller/joint_wrench
/go1_gazebo/RR_calf_controller/state
/go1_gazebo/RR_hip_controller/command
/go1_gazebo/RR_hip_controller/joint_wrench
/go1_gazebo/RR_hip_controller/state
/go1_gazebo/RR_thigh_controller/command
/go1_gazebo/RR_thigh_controller/joint_wrench
/go1_gazebo/RR_thigh_controller/state
/go1_gazebo/joint_states
/rosout
/rosout_agg
/tf
/tf_static
/trunk_imu
/visual/FL_foot_contact/the_force
/visual/FR_foot_contact/the_force
/visual/RL_foot_contact/the_force
/visual/RR_foot_contact/the_force

 

+ CMake upgrade (to 3.22)

sudo apt install build-essential libssl-dev

cd /libs
wget https://cmake.org/files/v3.22/cmake-3.22.0.tar.gz
tar -xzvf cmake-3.22.0.tar.gz
cd cmake-3.22.0

./bootstrap
make -j$(nproc)
sudo make install