Inverse Kinematics/Gait Generation Question

[belbo9]

Hi Guys,
I hope you are well. I'm quite new to ROS and was trying to use this repository to get my Go2 Edu up and running. I'm trying to control the robot via keyboard in simulation first and was just wondering what actually takes care of ensuring accurate gait generation?

[emogothyy]

hello, im new to ROS too, I didn't quite understand your question completely, but we can write to each other in telegram to help each other in the future, I'm trying to make good navigation for the robot go2

[shahriar193]

Hi. Are you able to work on the navigation?

[belbo9]

Hi @emogothyy, essentially I wanted to try the go2_edu in simulation first, so gazebo/ros2 and wanted to try control it via keyboard hence why I was asking in which part of this repository where the actual inverse kinematics etc is done. Have you tried controlling the go2 edu using keyboard using this repository, would be so helpful. Thanks!!

[belbo9]

Also @emogothyy, are you using Gazebo ignition by any chance, have you come across an issue like this when launching? [gazebo-2] [GUI] [Err] [SystemLoader.cc:92] Failed to load system plugin [libunitreeDrawForcePlugin.so] : Could not find shared library.
[gazebo-2] [GUI] [Err] [SystemLoader.cc:92] Failed to load system plugin [libunitreeDrawForcePlugin.so] : Could not find shared library.
[gazebo-2] [GUI] [Err] [SystemLoader.cc:92] Failed to load system plugin [libunitreeDrawForcePlugin.so] : Could not find shared library.
[gazebo-2] [GUI] [Err] [SystemLoader.cc:92] Failed to load system plugin [libunitreeDrawForcePlugin.so] : Could not find shared library.

The plugins in the leg.xacro file are not cannot be found for some reason and I'm suspecting it's gazebo version.

[emogothyy]

Hello! @belbo9 I control the robot via a PS5 joystick, which I connected to Windows and forwarded to WSL Ubuntu, without a keyboard, but I think that this can be implemented in this repository, you just need to somehow connect the output from the keyboard. try installing the package for your version of ros (mine is humble)

sudo apt install ros-humble-teleop-twist-keyboard

find ..../ros2_ws/src/go2_robot_sdk/config/twist_mux.yaml
add "keyboard" to /twist_mux, like this:

/twist_mux:
  ros__parameters:
    topics:
      joy:
        topic : cmd_vel_joy
        timeout : 0.5
        priority: 10
      navigation:
        topic : cmd_vel
        timeout : 0.5
        priority: 5
      keyboard:
        topic : keyboard_vel
        timeout : 0.5
        priority: 8

better do it yourself, don't copy, be careful with spaces, I could be wrong

build again, run robot launch and this node in different terminals:
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r cmd_vel:=/keyboard_vel

I tried to run gazebo with a virtual robot (https://github.com/anujjain-dev/unitree-go2-ros2), I managed to run it, but in the end it did not lead to anything, I decided to test navigation directly on a real robot

I have not tried to do control via keyboard, but it may help, I can try to do it a little later, since I'm doing another task now

Also watch this series of videos, it may help you understand some things if you are a beginner https://www.youtube.com/watch?v=c5DRTN2b2kY&list=PLLSegLrePWgJudpPUof4-nVFHGkB62Izy&index=2

[belbo9]

Hi @emogothyy, I've manged to control the robot in gazebo via keyboard. It's just I'm now facing issues with regards to gz_ros2_control where I keep on getting an error that says this:

[ros2_control_node-6] [INFO] [1753441611.270596846] [controller_manager]: Loading hardware 'GazeboSystem'
[ros2_control_node-6] [ERROR] [1753441611.270738505] [controller_manager]: Caught exception of type : N9pluginlib20LibraryLoadExceptionE while loading hardware: According to the loaded plugin descriptions the class gz_ros2_control/GazeboSimSystem with base class type hardware_interface::SystemInterface does not exist. Declared types are mock_components/GenericSystem

Have you come across something like this before by any chance?

[belbo9]

Also @emogothyy, which version of Gazebo you using?

[emogothyy]

unfortunately I have already removed gazeebo because I don't use it, but I did everything according to this repository (https://github.com/anujjain-dev/unitree-go2-ros2), everything started and worked for me there

if we talk about an error, then maybe you installed something incorrectly, the wrong dependencies or maybe not for the right version of gazibo, which version are you using?

[emogothyy]

@belbo9 how ur progress?

[belbo9]

Hi @emogothyy, so I moved from Gazebo Harmonic, ROS2 Jazzy, Ubunutu 24.04 stack to Gazebo Fortress, ROS2 Humble and Ubunutu 22.04 but I am now facing the issue of Gazebo crashing on start up.

[emogothyy]

@belbo9 thats sad, what error?