From 60e2983587582ffc558cc04640051766a8d5a90a Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Sat, 7 Oct 2023 16:32:33 +0900 Subject: [PATCH 1/5] [jsk_unitree_robot] updte unitree-ros version --- jsk_unitree_robot/unitree.rosinstall | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/jsk_unitree_robot/unitree.rosinstall b/jsk_unitree_robot/unitree.rosinstall index b10a4d6fa5..35f1b06d52 100644 --- a/jsk_unitree_robot/unitree.rosinstall +++ b/jsk_unitree_robot/unitree.rosinstall @@ -4,11 +4,11 @@ uri: https://github.com/k-okada/unitree_legged_sdk.git version: develop - git: - # Use 50ff98 commit since unitree_ros has unitree_ros_to_real as submodule and - # causes https://github.com/jsk-ros-pkg/jsk_robot/issues/1858 + # Use a version before 2e566b7 commit since unitree_ros has unitree_ros_to_real as submodule + # and it causes https://github.com/jsk-ros-pkg/jsk_robot/issues/1858 local-name: unitree_ros uri: https://github.com/unitreerobotics/unitree_ros.git - version: 50ff982dfbd4b9d2d08f1a05d66f141ab9f8d7f9 + version: 5dee20c - git: # waiting for https://github.com/unitreerobotics/unitree_ros_to_real/pull/22 - 25 local-name: unitree_ros_to_real From a42338c9e3845ebfe138a0625b97b6d8363d598b Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Sat, 7 Oct 2023 16:33:11 +0900 Subject: [PATCH 2/5] [unitreeeus] add go1-simple.l to .gitignore --- jsk_unitree_robot/unitreeeus/.gitignore | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_unitree_robot/unitreeeus/.gitignore b/jsk_unitree_robot/unitreeeus/.gitignore index 650db6302c..36a0c2b41e 100644 --- a/jsk_unitree_robot/unitreeeus/.gitignore +++ b/jsk_unitree_robot/unitreeeus/.gitignore @@ -1 +1,2 @@ *go1.l +*go1-simple.l From b5539837e3c2cac4a27a3fc41e7d66a7586bfb4d Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Sat, 7 Oct 2023 16:36:37 +0900 Subject: [PATCH 3/5] [unitreeeus] use go1-robot instead of go1_description-robot --- jsk_unitree_robot/unitreeeus/go1-utils.l | 6 +++--- jsk_unitree_robot/unitreeeus/unitree-interface.l | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/jsk_unitree_robot/unitreeeus/go1-utils.l b/jsk_unitree_robot/unitreeeus/go1-utils.l index 8bb8bdcb74..32ab1da61c 100644 --- a/jsk_unitree_robot/unitreeeus/go1-utils.l +++ b/jsk_unitree_robot/unitreeeus/go1-utils.l @@ -1,18 +1,18 @@ (require :go1 "package://unitreeeus/go1.l") -(defun go1 () (setq *go1* (instance go1_description-robot :init))) +(defun go1 () (setq *go1* (instance go1-robot :init))) ;; euscollada can not generate end-coords without limbs... ;; head-end-coords: ;; parent : camera_optical_face_lk ;; translate : [0, -12.5, -6.7] ;; rotate : [0, 1, 0, 0] -(defmethod go1_description-robot +(defmethod go1-robot (:head-end-coords (&rest args) (forward-message-to camera_optical_face_lk args)) ) ;; define ik methods -(defmethod go1_description-robot +(defmethod go1-robot (:fullbody-inverse-kinematics ;; see https://github.com/euslisp/jskeus/pull/349 for detail (target-coords move-target &rest args &key diff --git a/jsk_unitree_robot/unitreeeus/unitree-interface.l b/jsk_unitree_robot/unitreeeus/unitree-interface.l index f449e84eff..f7d9756cfe 100644 --- a/jsk_unitree_robot/unitreeeus/unitree-interface.l +++ b/jsk_unitree_robot/unitreeeus/unitree-interface.l @@ -36,7 +36,7 @@ (:init (&rest args) (prog1 - (send-super* :init :robot go1_description-robot :base-frame-id "base_lk" :odom-topic "/odom_combined" :base-controller-action-name nil args) + (send-super* :init :robot go1-robot :base-frame-id "base_lk" :odom-topic "/odom_combined" :base-controller-action-name nil args) (setq body-pose-topic "/go1/body_pose") (ros::advertise body-pose-topic geometry_msgs::Pose 1) (setq cmd-vel-topic "/go1/cmd_vel") From 6da270dc0a47aa5d7dca3acd7a04a3cbaa8475cd Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Sat, 7 Oct 2023 16:39:45 +0900 Subject: [PATCH 4/5] [unitreeeus] add unitree_legged_msgs as dependency --- jsk_unitree_robot/unitreeeus/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_unitree_robot/unitreeeus/package.xml b/jsk_unitree_robot/unitreeeus/package.xml index c1ffe079ff..5ae25828ce 100644 --- a/jsk_unitree_robot/unitreeeus/package.xml +++ b/jsk_unitree_robot/unitreeeus/package.xml @@ -20,6 +20,7 @@ roseus pr2eus + unitree_legged_msgs From fdc252c12614c731b06f694d0ccef94d313d990e Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Thu, 12 Oct 2023 01:18:10 +0900 Subject: [PATCH 5/5] Update unitree.repos to set unitree_ros version to 5dee20c --- jsk_unitree_robot/cross/repos/unitree.repos | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_unitree_robot/cross/repos/unitree.repos b/jsk_unitree_robot/cross/repos/unitree.repos index 172aae74f9..72503f02e4 100644 --- a/jsk_unitree_robot/cross/repos/unitree.repos +++ b/jsk_unitree_robot/cross/repos/unitree.repos @@ -9,7 +9,7 @@ repositories: unitree_ros: type: git url: https://github.com/unitreerobotics/unitree_ros.git - veresion: master + veresion: 5dee20c unitree_ros_to_real: type: git url: https://github.com/k-okada/unitree_ros_to_real.git