kimsooyoung / a1_sim_py

This is a temporary repository, which contains all the files needed to simulate the Unitree Robotics' a1 quadrupedal robot.

Unitree Quadruped robot simulation - Python version

This repository contains all the files and code needed to simulate the a1 & go1 quadrupedal robot using Gazebo and ROS. The software runs on below envs

• ROS noetic and Ubuntu 20.04.
• ROS melodic and Ubuntu 18.04.
• There's also Docker Hub Image but I recommend to use native environment for performance.

Setup

• Clone Codes

cd <your-ws>/src
# melodic-version
git clone https://github.com/kimsooyoung/a1_sim_py.git
# noetic-version
git clone https://github.com/kimsooyoung/a1_sim_py.git -b noetic-devel

• Install Additional Pkgs

sudo apt-get install ros-$ROS_DISTRO-controller-manager \
	ros-$ROS_DISTRO-joint-state-publisher-gui \
	ros-$ROS_DISTRO-joint-state-controller \
	ros-$ROS_DISTRO-teleop-twist-keyboard \
	ros-$ROS_DISTRO-position-controllers \
	ros-$ROS_DISTRO-gazebo-ros-control \
	ros-$ROS_DISTRO-effort-controllers \
	ros-$ROS_DISTRO-teleop-twist-joy \
	ros-$ROS_DISTRO-gazebo-ros-pkgs \
	ros-$ROS_DISTRO-twist-mux \
	ros-$ROS_DISTRO-xacro

• Build Pkgs one by one (It's okay to use catkin_make for build all)

catkin_make --only-pkg-with-deps quadruped_unitree && source devel/setup.bash
catkin_make --only-pkg-with-deps a1_joystick && source devel/setup.bash

catkin_make --only-pkg-with-deps a1_controller && source devel/setup.bash
catkin_make --only-pkg-with-deps go1_controller && source devel/setup.bash

catkin_make --only-pkg-with-deps a1_description && source devel/setup.bash
catkin_make --only-pkg-with-deps go1_description && source devel/setup.bash

catkin_make --only-pkg-with-deps a1_gazebo && source devel/setup.bash
catkin_make --only-pkg-with-deps go1_gazebo && source devel/setup.bash

• Make Python Codes executable

cd <code-dir>
chmod +x a1_joystick/scripts/ramped_joystick.py
chmod +x quadruped_unitree/scripts/*.py

cd controllers
chmod +x a1_controller/scripts/robot_controller_gazebo.py
chmod +x go1_controller/scripts/robot_controller_gazebo.py

If you just wanna try this and don't care about anything about ros, gazebo, etc... Just use prepared docker image

docker pull tge1375/unitree_sim:0.0.1
docker run -it -p 6080:80 --name unitree_sim --privileged tge1375/unitree_sim:0.0.1
# Open your web-browser and then connect to 
# http://127.0.0.1:6080/ 

You'll see images like belows

[] img

Execution

• Example 1 - Robot Description

See how quadruped robot constructed and control each joints.

roslaunch go1_description go1_rviz.launch

• Example 2 - Gazebo Execution

Walking quadruped robots within Gazebo Sim.

roslaunch quadruped_unitree go1_gazebo.launch

# Sometimes it falls over and we need to raise them by below command
rosrun quadruped_unitree respawn_robot.py

# Finally makes it walk!
rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/key_vel

• Example 2 - AWS warehouse world

Prepare external pkg from AWS

cd <your-ws>/src
git clone https://github.com/aws-robotics/aws-robomaker-small-warehouse-world.git
cd ../

catkin_make --only-pkg-with-deps aws_robomaker_small_warehouse_world && source devel/setup.bash

And then modify simulation.launch in go1_gazebo pkg.

<arg name="world_file_name" default="no_roof_small_warehouse"/>
<!-- <arg name="world_file_name" default="normal"/> -->

Finally, Run example again!

roslaunch quadruped_unitree go1_gazebo.launch

---

Future Work

• Stairs Climbing
• Update Walking Pace
• Template based leg control (Ground Reaction Force required)
• Reinforcement learning (Will be fun)
• Autonomous Walking
• Sensor Fusion and Tracking

Credits

• lnotspotl: https://github.com/lnotspotl/a1_sim_py
• mike4192: https://github.com/mike4192/spotMicro
• Unitree Robotics: https://github.com/unitreerobotics/a1_ros
• QUADRUPED ROBOTICS: https://quadruped.de