No version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
Repository Summary
Checkout URI | https://github.com/shineminxing/ros2go2estimator.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-03-30 |
Dev Status | UNMAINTAINED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
fusion_estimator | 0.0.0 |
message_handle | 0.0.0 |
sport_control | 0.0.0 |
voice_chat_py | 0.0.0 |
README
Ros2Go2Estimator 🦾
- 一种高精度里程计解决方案,
- 基于纯运动学的双足/四足机器人位置估计算法,目前仅使用IMU、足压力传感器、关节角度和角速度,不依赖相机或Lidar,但可将信号融合进去,进一步提高估计精度;
- fusion_estimator包发布对应“base_link”的话题SMXFE/Odom和对应“base_link_2D”的话题SMXFE/Odom_2D;
- message_handel包完成SMXFE/Odom和SMXFE/Odom_2D的tf,此外,将机器狗提供的“utlidar_lidar”的话题/utlidar/cloud转换为“base_link_2D”话题/SMXFE/Scan;
- sport_control包读取joystick输入、voice_chat指令,使用unitree_sdk2提供的接口控制机器狗;
- 使用SLAM Toolbox建图时放开sport_control/launch/sport_control_launch.py的启动项ros2 run slam_toolbox async_slam_toolbox_node ……;
- 使用Nav2导航时放开sport_control/launch/sport_control_launch.py的启动项ros2 launch nav2_bringup bringup_launch.py ……;
- voice_chat_py监听麦克风,听到唤醒词“来福”时,开启录制,VOSK语音转文字,Deepseek API联网获取文字回复,CosyVoice2/pyttsx3文本转语音并播放。
📚 补充说明
- 切换两足、四足无需在估计器内做模式切换
- 两足站立行走误差率1%
- 动态行走模式误差率0.5%
- 支持长距离定位
- 目前没有调整参数做补偿,工程使用时可进一步提升精度
- SLAM Toolbox目前是纯里程计建图,请擅长SLAM的同志自行把地图匹配加进去
- Nav2同样请自行调整,加载的地图记得改成自己的
- voice_chat_py可用于语音交流,但需要安装各种依赖,用不到的同志直接删除这个package即可,不影响其他包的运行;如长期使用,请把api_key换成您自己的https://cloud.siliconflow.cn/i/5kSHnwpA
🎥 视频演示
最新进展(点击图片进入视频)
实验记录
⚙️ 安装指南
- Use Ubuntu 22.04, ROS2 Humble
sudo apt install ros-humble-joy
sudo apt install ros-humble-rmw-cyclonedds-cpp
sudo apt install ros-humble-rosidl-generator-dds-idl
sudo apt install ros-humble-nav2-msgs
sudo apt install ros-humble-slam-toolbox ros-humble-nav2-bringup
sudo apt install portaudio19-dev ffmpeg libasound-dev python3-pyaudio python3-pip
pip3 install pyaudio pydub pygame vosk pyttsx3 "openai>=1.0" --user
git clone --recursive https://github.com/ShineMinxing/Ros2Go2Estimator.git
cd Ros2Go2Estimator
colcon build
ros2 launch sport_control sport_control_launch.py
# Voice_chat_py具体需要安装的依赖没有整理,可以把代码扔给大模型问它需要装什么,也可以删除此包,不影响使用。
- 记得在src/joystick_control/launch/joystick_control_launch.py中,修改机器狗的网口名,我个人的是“enx00e04c8d0eff”。
- 同时按下手柄的LT、RT,解锁/锁定手柄;按住RT+左摇杆进行移动;按住RT+右摇杆进行旋转;更多操作请看joystick_control_node.cpp。
📄 相关文档
- 核心算法原理: 技术文档
- 历史项目参考: Aliengo ROS1项目
📧 联系我们
博士团队: 401435318@qq.com
研究所: 中国科学院光电技术研究所
📌 注意:当前为开发预览版,完整文档正在编写中 ``
CONTRIBUTING
No CONTRIBUTING.md found.
No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.