宇树ROS1开源模型在ROS2中Gazebo中仿真

以GO1为例
1. CMakelists.txt更新语法

1. cmake_minimum_required(VERSION 3.8)
2. project(go1_description)
3. if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
4.   add_compile_options(-Wall -Wextra -Wpedantic)
5. endif()
6. # find dependencies
7. find_package(ament_cmake REQUIRED)
8. find_package(rclcpp REQUIRED)
9. find_package(std_msgs REQUIRED)
10. find_package(sensor_msgs REQUIRED)
11. find_package(gazebo_ros REQUIRED)
12. find_package(xacro REQUIRED)
14. # 安装URDF和Xacro文件
15. install(DIRECTORY
16.   urdf/
17.   DESTINATION share/${PROJECT_NAME}/urdf
18. )
20. # 安装启动文件
21. install(DIRECTORY
22.   launch/
23.   DESTINATION share/${PROJECT_NAME}/launch
24. )
26. ament_package()

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2. packge.xml更新语法

1. <?xml version="1.0"?>
2. <package format="3">
3.     <name>go1_description</name>
4.     <version>0.0.0</version>
5.     <description>The go1_description package</description>
7.     <maintainer email="laikago@unitree.cc">unitree</maintainer>
8.     <license>TODO</license>
10.   <buildtool_depend>ament_cmake</buildtool_depend>
12.   <depend>rclcpp</depend>
13.   <depend>std_msgs</depend>
14.   <depend>sensor_msgs</depend>
15.   <depend>gazebo_ros</depend>
16.   <depend>xacro</depend>
18.   <test_depend>ament_lint_auto</test_depend>
19.   <test_depend>ament_lint_common</test_depend>
21.   <export>
22.     <build_type>ament_cmake</build_type>
23.   </export>
24. </package>

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3. 新建launch文件

1. import os
2. from launch import LaunchDescription
3. from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
4. from launch.launch_description_sources import PythonLaunchDescriptionSource
5. from launch.substitutions import Command, LaunchConfiguration, PathJoinSubstitution
6. from launch_ros.actions import Node
7. from ament_index_python.packages import get_package_share_directory
9. def generate_launch_description():
10.     pkg_path = get_package_share_directory('go1_description')
11.    
12.     # 使用xacro命令生成URDF
13.     xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro')
14.     robot_description = Command(['xacro ', xacro_file])
16.     # 启动Gazebo
17.     gazebo = IncludeLaunchDescription(
18.         PythonLaunchDescriptionSource([os.path.join(
19.             get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py'
20.         )])
21.     )
23.     # 发布机器人状态
24.     robot_state_publisher_node = Node(
25.         package='robot_state_publisher',
26.         executable='robot_state_publisher',
27.         output='both',
28.         parameters=[{'robot_description': robot_description}]
29.     )
31.     # 在Gazebo中生成实体
32.     spawn_entity = Node(
33.         package='gazebo_ros',
34.         executable='spawn_entity.py',
35.         arguments=['-topic', 'robot_description', '-entity', 'my_robot'],
36.         output='screen'
37.     )
39.     return LaunchDescription([
40.         DeclareLaunchArgument(
41.             'world',
42.             default_value='worlds/empty.world'
43.         ),
44.         gazebo,
45.         robot_state_publisher_node,
46.         spawn_entity,
47.     ])

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4. colcon编译包

1. cd ~/suo/unitree_ros/robots/go1_description
2. colcon build --packages-select go1_description
3. source install/setup.bash

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5. 启动仿真

1. ros2 launch go1_description spawn_robot.launch.py

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6. 终极效果

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