博客地址：https://www.cnblogs.com/zylyehuo/
Unitree G1 模型文件下载地址(挑选自己需要的部分，本教程基于 g1_29dof.urdf (以及 .xml 和 meshes 文件夹))
有核心的 URDF 文件和 Meshes (STL 网格文件)
效果预览
工作空间结构
主要文件
display_and_gazebo.launch
<?xml version="1.0" encoding="UTF-8"?> <launch> <!-- 加载机器人URDF模型参数 --> <param name="robot_description" textfile="$(find g1_description)/urdf/g1_29dof.urdf" /> <!-- TF静态变换 --> <node pkg="tf" type="static_transform_publisher" name="world_to_map" args="0 0 0 0 0 0 1 world map 10"/> <!-- base_link和pelvis重合 - 静态 --> <node pkg="tf" type="static_transform_publisher" name="base_link2pelvis" args="0.0 0.0 0.0 0.0 0.0 0.0 1 base_link pelvis 100" /> <!-- 移除静态的map2base_link，改为动态TF --> <node pkg="tf" type="static_transform_publisher" name="imu_in_torso2body_imu" args="0.0 0.0 0.0 0.0 0.0 0.0 1 imu_in_torso body_imu 100" /> <!-- 机器人状态发布器 --> <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" /> <!-- LinkStates到JointState的桥接，同时发布动态TF --> <node name="link_states_bridge" pkg="g1_description" type="link_states_bridge.py" output="screen" /> <!-- RViz --> <node name="rviz" pkg="rviz" type="rviz" respawn="false" output="screen" /> <!-- ============ Gazebo配置 ============ --> <!-- 启动Gazebo --> <include file="$(find gazebo_ros)/launch/empty_world.launch"> <arg name="paused" value="false"/> <arg name="use_sim_time" value="true"/> <arg name="gui" value="true"/> <arg name="headless" value="false"/> </include> <!-- 将机器人模型生成到Gazebo中 --> <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -z 0.79 -model g1_robot" output="screen" /> </launch>link_states_bridge.py
/* by 01022.hk - online tools website : 01022.hk/zh/formatsql.html */ #!/usr/bin/env python3 import rospy import math from gazebo_msgs.msg import LinkStates from sensor_msgs.msg import JointState import numpy as np from scipy.spatial.transform import Rotation import threading import tf from geometry_msgs.msg import TransformStamped class LinkStatesToJointState: def __init__(self): rospy.init_node('link_states_to_joint_state') # 订阅Gazebo的链接状态 self.link_states_sub = rospy.Subscriber('/gazebo/link_states', LinkStates, self.link_states_callback, queue_size=1) # 发布joint_states self.joint_states_pub = rospy.Publisher('/joint_states', JointState, queue_size=1) # 发布TF变换 self.tf_broadcaster = tf.TransformBroadcaster() # 所有关节及其parent/child链接映射 self.joints_info = { 'left_hip_pitch_joint': ('pelvis', 'left_hip_pitch_link', [0, 1, 0]), 'left_hip_roll_joint': ('left_hip_pitch_link', 'left_hip_roll_link', [1, 0, 0]), 'left_hip_yaw_joint': ('left_hip_roll_link', 'left_hip_yaw_link', [0, 0, 1]), 'left_knee_joint': ('left_hip_yaw_link', 'left_knee_link', [0, 1, 0]), 'left_ankle_pitch_joint': ('left_knee_link', 'left_ankle_pitch_link', [0, 1, 0]), 'left_ankle_roll_joint': ('left_ankle_pitch_link', 'left_ankle_roll_link', [1, 0, 0]), 'right_hip_pitch_joint': ('pelvis', 'right_hip_pitch_link', [0, 1, 0]), 'right_hip_roll_joint': ('right_hip_pitch_link', 'right_hip_roll_link', [1, 0, 0]), 'right_hip_yaw_joint': ('right_hip_roll_link', 'right_hip_yaw_link', [0, 0, 1]), 'right_knee_joint': ('right_hip_yaw_link', 'right_knee_link', [0, 1, 0]), 'right_ankle_pitch_joint': ('right_knee_link', 'right_ankle_pitch_link', [0, 1, 0]), 'right_ankle_roll_joint': ('right_ankle_pitch_link', 'right_ankle_roll_link', [1, 0, 0]), 'waist_yaw_joint': ('pelvis', 'waist_yaw_link', [0, 0, 1]), 'waist_roll_joint': ('waist_yaw_link', 'waist_roll_link', [1, 0, 0]), 'waist_pitch_joint': ('waist_roll_link', 'torso_link', [0, 1, 0]), 'left_shoulder_pitch_joint': ('torso_link', 'left_shoulder_pitch_link', [0, 1, 0]), 'left_shoulder_roll_joint': ('left_shoulder_pitch_link', 'left_shoulder_roll_link', [1, 0, 0]), 'left_shoulder_yaw_joint': ('left_shoulder_roll_link', 'left_shoulder_yaw_link', [0, 0, 1]), 'left_elbow_joint': ('left_shoulder_yaw_link', 'left_elbow_link', [0, 1, 0]), 'left_wrist_roll_joint': ('left_elbow_link', 'left_wrist_roll_link', [1, 0, 0]), 'left_wrist_pitch_joint': ('left_wrist_roll_link', 'left_wrist_pitch_link', [0, 1, 0]), 'left_wrist_yaw_joint': ('left_wrist_pitch_link', 'left_wrist_yaw_link', [0, 0, 1]), 'right_shoulder_pitch_joint': ('torso_link', 'right_shoulder_pitch_link', [0, 1, 0]), 'right_shoulder_roll_joint': ('right_shoulder_pitch_link', 'right_shoulder_roll_link', [1, 0, 0]), 'right_shoulder_yaw_joint': ('right_shoulder_roll_link', 'right_shoulder_yaw_link', [0, 0, 1]), 'right_elbow_joint': ('right_shoulder_yaw_link', 'right_elbow_link', [0, 1, 0]), 'right_wrist_roll_joint': ('right_elbow_link', 'right_wrist_roll_link', [1, 0, 0]), 'right_wrist_pitch_joint': ('right_wrist_roll_link', 'right_wrist_pitch_link', [0, 1, 0]), 'right_wrist_yaw_joint': ('right_wrist_pitch_link', 'right_wrist_yaw_link', [0, 0, 1]), } self.last_msg = None self.lock = threading.Lock() self.initial_pelvis_z = None # 初始pelvis高度 def link_states_callback(self, msg): with self.lock: self.last_msg = msg self.publish_joint_states(msg) self.publish_dynamic_tf(msg) def get_link_index(self, link_name, msg): """获取链接在LinkStates中的索引""" full_name = f'g1_robot::{link_name}' try: return msg.name.index(full_name) except ValueError: return -1 def get_relative_rotation(self, parent_pose, child_pose): """计算从parent到child的相对旋转（四元数）""" # parent和child都是Pose消息，包含position和orientation # 计算相对四元数：q_rel = q_parent^-1 * q_child p_quat = [parent_pose.orientation.x, parent_pose.orientation.y, parent_pose.orientation.z, parent_pose.orientation.w] c_quat = [child_pose.orientation.x, child_pose.orientation.y, child_pose.orientation.z, child_pose.orientation.w] p_rot = Rotation.from_quat(p_quat) c_rot = Rotation.from_quat(c_quat) # 相对旋转 rel_rot = p_rot.inv() * c_rot return rel_rot def rotation_to_angle_around_axis(self, rotation, axis): """从旋转矩阵中提取绕指定轴的旋转角度""" # 使用Rodrigues公式的逆 angle = rotation.magnitude() if abs(angle) < 1e-6: return 0.0 # 获取旋转轴 rotvec = rotation.as_rotvec() rot_axis = rotvec / angle if angle > 1e-6 else [0, 0, 1] # 检查旋转轴是否与指定轴一致 axis_norm = np.array(axis) / np.linalg.norm(axis) if np.dot(rot_axis, axis_norm) > 0.9: return angle elif np.dot(rot_axis, axis_norm) < -0.9: return -angle else: # 使用欧拉角方法 euler = rotation.as_euler('xyz') if axis == [1, 0, 0]: return euler[0] elif axis == [0, 1, 0]: return euler[1] elif axis == [0, 0, 1]: return euler[2] else: return 0.0 def publish_joint_states(self, msg): """发布joint_states消息""" joint_state = JointState() joint_state.header.stamp = rospy.Time.now() joint_state.name = list(self.joints_info.keys()) joint_state.position = [] joint_state.velocity = [0.0] * len(joint_state.name) joint_state.effort = [0.0] * len(joint_state.name) # 计算每个关节的角度 for joint_name, (parent_name, child_name, axis) in self.joints_info.items(): parent_idx = self.get_link_index(parent_name, msg) child_idx = self.get_link_index(child_name, msg) if parent_idx < 0 or child_idx < 0: joint_state.position.append(0.0) continue # 获取相对旋转 rel_rot = self.get_relative_rotation(msg.pose[parent_idx], msg.pose[child_idx]) # 提取绕指定轴的角度 angle = self.rotation_to_angle_around_axis(rel_rot, axis) joint_state.position.append(angle) # 发布 self.joint_states_pub.publish(joint_state) def publish_dynamic_tf(self, msg): """发布动态TF：map → base_link（base_link和pelvis重合，跟随Gazebo中pelvis的实际位置和旋转）""" pelvis_idx = self.get_link_index('pelvis', msg) if pelvis_idx < 0: return pelvis_pose = msg.pose[pelvis_idx] # map → base_link：base_link和pelvis重合，位置和旋转都来自Gazebo中的pelvis self.tf_broadcaster.sendTransform( translation=(pelvis_pose.position.x, pelvis_pose.position.y, pelvis_pose.position.z), rotation=(pelvis_pose.orientation.x, pelvis_pose.orientation.y, pelvis_pose.orientation.z, pelvis_pose.orientation.w), time=rospy.Time.now(), child='base_link', parent='map' ) if __name__ == '__main__': try: node = LinkStatesToJointState() rospy.spin() except rospy.ROSInterruptException: pass运行步骤
cd ~/g1_test_wscatkin_makesource ./devel/setup.bashroslaunch g1_description display_and_gazebo.launch
