go2-navigation

Repository aimed at running SLAM-based navigation on the Go2

export ROS_DOMAIN_ID=5 export OBELISK_BUILD_UNITREE=true

Useful commands

Setup:

bash setup.sh

Enter the docker container:

docker compose -f docker/docker-compose.yml run --build sample-walking

Build and activate Obelisk:

obk

Build all the packages:

colcon build --symlink-install --parallel-workers $(nproc)

Build packages with verbose output:

colcon build --symlink-install --parallel-workers $(nproc) --event-handlers console_direct+

Build packages in debug mode:

colcon build --symlink-install --parallel-workers $(nproc) --cmake-args -DCMAKE_BUILD_TYPE=Debug

Source the package:

source install/setup.bash

Set logging dir:

export ROS_HOME=~/sample-contact-walking

Launch the Go2-Nav stack:

This stack can occassionally struggle to launch if launched directly to activate (sometimes High Level Planner or DTMPC nodes will be triggered to activate before being triggered to configure). To prevent this, run this to auto_start=configure, and then in another terminal run obk-activate <config_name> to activate all the nodes.

Launch the RL velocity controller, with joystick commands

obk-launch config_file_path=${GO2_NAVIGATION_ROOT}/install/go2_rl_vel_tracking/share/go2_rl_vel_tracking/config/rl_vel_tracking.yml device_name=onboard auto_start=configure

Launch a high-level test file (sim only) where MPC trajectory is followed exactly.

obk-launch config_file_path=${GO2_NAVIGATION_ROOT}/install/go2_dyn_tube_mpc/share/go2_dyn_tube_mpc/config/high_level_test.yml device_name=onboard auto_start=configure

Launch Dynamic Tube MPC

obk-launch config_file_path=${GO2_NAVIGATION_ROOT}/install/go2_dyn_tube_mpc/share/go2_dyn_tube_mpc/config/dynamic_tube_mpc.yml device_name=onboard auto_start=configure

To spoof data provided by SLAM, first run (in a different terminal, use_robot_sim=True to follow MuJoCo simulation, False to follow MPC exactly.)

ros2 run testing mimic_slam_robot --ros-args -p use_robot_sim:=True

The relevant commands are aliased by

launch_go2_rl_vel

launch_go2_high_level_test

launch_go2_dtmpc

Connecting the joystick

USB

Can verify that the the controller connects via

sudo apt-get update
sudo apt-get install evtest
sudo evtest

where you replace eventX with the correct number. You can see these by looking at /dev/input/.

Then you may need to change the permissions for the joystick:

sudo chmod 666 /dev/input/eventX

event21 seems to be consistent for the xbox remote for my machine.

Can run ros2 run joy joy_enumerate_devices to see what devices are found.