Description

This repo contains the code running on a quadruped robot. Executed with Raspberry Pi 4, Ubuntu 20

It is implemented with ROS2

Open de workspace

• Install Docker and VSCode.
• Use View->Command Palette... or Ctrl+Shift+P to open the command palette. Search for the command Dev Containers: Reopen in Container and execute it. This will build your development docker container for your.

From root workspace ROS 2 folder:

source /opt/ros/humble/setup.bash
colcon build
source install/local_setup.bash

Packages:

• quadruped_robot: Where robot main loop is, it is:
  • ros2_node: robot_run.py Subscribed to Commands and RobotStatus. These are the inputs basically Publish joint angle to command it to the motors
  • states_manager: robot_player.py It is a states manager, instanciates all the robot model variables state.py defines each state
  • movement controller: move_controller.py Implements some methods to allow secuences of actions on the robot.
• quadruped_teleop
  • ros2_node: joystic_teleop.py From joystick.py, it reads wireless gamepad
  • ros2_node: keyboard_teleop.py TODO: to control robot with any keyboard
• micro-ros w/ Teensy 4.1
  • https://micro.ros.org/docs/tutorials/core/teensy_with_arduino/

Run robot_run node with parameters

ros2 run quadruped_robot robot_run --ros-args --params-file src/quadruped_robot/config/params.yaml

Launch robot and teleop

• PS5 controller teleop:

ros2 launch quadruped_teleop ps5_controller.launch.py

• Robot node:

ros2 launch quadruped_robot robot_launch.py

Connect agent to enable microros transports:

ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0

Run Foxgloves server:

ros2 launch foxglove_bridge foxglove_bridge_launch.xml

Paring bluetooth controller with bluetoothctl:

sudo bluetoothctl

agent on
discoverable on
default-agent
scan on

connect CONTROLLER_MAC_ADDRESS
trust CONTROLLER_MAC_ADDRESS
quit