人形机器人移动的基础在于双足直立行走，而在真实环境下进行试验迭代，需要昂贵的硬件设备和较长的迭代周期，因此仿真试验环境显得尤为重要。在仿真环境下确定大致方向后，再进行实物试验，可以节约成本、缩短迭代周期。本文将介绍Hector Simulation双足机器人仿真环境的搭建和模拟。（操作系统：Ubuntu20.04；ros版本：noetic(gazebo11)；底层架构：x86_64）

安装依赖

sudo apt-get install ros-noetic-controller-manager ros-noetic-ros-control ros-noetic-ros-controllers ros-noetic-joint-state-controller ros-noetic-effort-controllers ros-noetic-velocity-controllers ros-noetic-position-controllers ros-noetic-robot-controllers ros-noetic-robot-state-publisher ros-noetic-gazebo-ros-pkgs ros-noetic-gazebo-ros-control

下载源码并编译

cd ~
git clone https://github.com/DRCL-USC/Hector_Simulation.git
mkdir -p ~/catkin_ws/src
mkdir -p ~/catkin_ws/scripts
cp ~/Hector_Simulation/Hector_ROS_Simulation/* ~/catkin_ws/src
cd ~/catkin_ws
catkin_make
# 如果是首次编译，则加上下列参数
# catkin_make -DCMAKE_BUILD_TYPE=Release

编译过程中可能遇到报错，是没有安装lcm包导致的，安装好再编译就不会出错了

In file included from /home/wangml71/catkin_ws/src/hector_control/src/../include/common/../interface/../sdk/include/unitree_legged_sdk/unitree_legged_sdk.h:12,
                 from /home/wangml71/catkin_ws/src/hector_control/src/../include/common/../interface/CmdPanel.h:38,
                 from /home/wangml71/catkin_ws/src/hector_control/src/../include/common/DesiredCommand.h:15,
                 from /home/wangml71/catkin_ws/src/hector_control/src/../include/common/ControlFSMData.h:4,
                 from /home/wangml71/catkin_ws/src/hector_control/src/main.cpp:7:
/home/wangml71/catkin_ws/src/hector_control/src/../include/common/../interface/../sdk/include/unitree_legged_sdk/lcm.h:9:10: fatal error: lcm/lcm-cpp.hpp: No such file or directory
    9 | #include <lcm/lcm-cpp.hpp>
      |          ^~~~~~~~~~~~~~~~~
compilation terminated.

解决方案

cd ~
git clone https://github.com/lcm-proj/lcm.git
cd lcm
mkdir build
cd build
cmake ..
make -j4
sudo make install

加入环境变量

vim ~/.bashrc

#在.bashrc文件末尾添加下列代码
source /opt/ros/noetic/setup.bash
source /usr/share/gazebo-11/setup.sh
source ~/catkin_ws/devel/setup.bash
export ROS_PACKAGE_PATH=~/catkin_ws:${ROS_PACKAGE_PATH}
export GAZEBO_PLUGIN_PATH=~/catkin_ws/devel/lib:${GAZEBO_PLUGIN_PATH}
export LD_LIBRARY_PATH=~/catkin_ws/devel/lib:${LD_LIBRARY_PATH}

使能环境变量

source ~/.bashrc

运行测试

#打开一个终端，运行下列代码
roslaunch unitree_gazebo biped.launch

# 另起一个终端，运行下列代码
rosrun hector_control hector_ctrl

在gazebo仿真界面单击启动按钮，则可以看到机器人开始运行