h12_ros2_controller

Controller of the h12 robot with ROS2 services

Installation

• All the dependencies are listed in the requirements.txt\
• Version numbers are determined by installing everything through pip in a separated conda environment defined in environment.yml.
• Make sure you are using system-level python3, run pip install -e . to install all the dependencies.
• Install the Unitree Python SDK so the code can communicate with the robot.
• This package depends on two additonal ROS2 packages that holds messages and robot description.
  • h12_ros2_model
  • custom_ros_messages

ROS Setup

• Create an empty ros worksapce and place this repo under src.
• The program uses customized message definions and that part can only be built by ament_cmake.
• Copy the controller_msgs into src directory as well, so ROS can build the message package separately.
• Run colcon build and then source ./install/setup.bash to build the project.

Files

• assets/ contains robot description files. Only used when running the programs without ros environment.
• data/ contains saved data such as joint positions.
• h12_ros2_controller/:
  • core/: contains the core implementaiton of robot kinematics solver, controller and communication interface.
    • arm_controller.py solves inverse kinematics and provides functions to control end-effectors and query their states.
    • channel_interface.py implements a publisher for motor commands and a subscriber for motor states using the Unitree Python SDK.
    • hand_controller.py tracks hand states and commands finger positions.
    • robot_model.py tracks robot states and provides useful functions for kinematics, Jacobians, etc., using Pinocchio.
  • example/ contains example scripts using core functionalities without ros dependencies.
  • utility/ contains useful scripts to inspect robot descriptions, process collision pairs, and inspect joint velocities.
  • Python files in the folder are ros nodes.