/bir-black-mouth

Primary LanguageC++

humble-devel Status

Caramel 🐕

Caramel is a project of an open-source quadruped robot for research, developed at the Centro Universitário SENAI CIMATEC in partnership with the Centro de Competência em Robótica e Sistemas Autônomos.

caramel-robot

Features

  • ROS Platform: The robot Caramel is ROS 2 based, on Humble distribution.
  • Small Size: Caramel is a little dog robot.
  • Extensibility: There are possibilities for improvement, such as equipping it with sensors and implement new controllers.
  • Open Source: The software of Caramel is open source, all code is available to visitors.

Skills

The Caramel is teleoperated by a Joystick and has three operation modes, Moving Body, Controlling Body and Walking.

Moving Body

In this mode you can move and rotate the Caramel's body in the three axes, keeping its feet on the ground.

ik

Controlling Body

In this mode the Caramel robot controls its body to keep itself stable, aligned on x and y axes.

control

Walking

In this mode you can walk with Caramel through the environmnent.

trot

You can watch some videos demonstrating Caramel's features in this playlist: Caramel - Quadruped Robot

How to use Caramel 🐕

The robot is configured to automatically connect to a network with the name caramel and password caramel123. So, you can change the network name and password on your router or use your mobile device's hotspot.

Make sure that your notebook or PC is connected to the same network, and to identify the address where Caramel's RaspberryPi is connected, you can run the command:

$ sudo nmap -sn $YOUR_IP_ADDRESS$/24

Then, connect your computer to the raspberry via SSH. The password is caramel123.

$ ssh ubuntu@$RASPBERRY_IP$

In you PC, run:

$ ros2 run joy joy_node --ros-args -p autorepeat_rate:=0.0

In the terminal connected to the Caramel Raspberry, run:

$ . /rsource.sh
$ ros2 launch caramel_bringup bringup.launch.py

You can specify the joystick you are using by including `joy_type=(ps4, x360 or generic)' in the line above.

Instalation

Packages contents

The Caramel packages are organized as follow:

  • caramel_bringup: Package for starting the Caramel robot
  • caramel_control: Contains the body control and hardware interface
  • caramel_data_analysis: Package used only for data collection and analysis
  • caramel_description: Caramel description, URDF and mesh files
  • caramel_gait_planner: Contains gait trajectory planner and trot gait executor
  • caramel_gazebo: Package for simulation in Gazebo
  • caramel_kinematics: Contains quadruped's inverse kinematics
  • caramel_teleop: Package teleoperation with a joystick

Install with Docker

Create workspace and build docker image

$ mkdir -p ~/workspaces/caramel_humble/src/
$ cd ~/workspaces/caramel_humble/src/
$ git clone git@github.com:Brazilian-Institute-of-Robotics/bir-black-mouth.git
$ cd bir-black-mouth
$ . build_docker.sh

Run docker container

$ . run_docker.sh

Inside docker container

$ source /rsource.sh

Install without Docker

Create a workspace and clone the repository

$ mkdir -p ~/caramel_ws/src/
$ cd ~/caramel_ws/src/
$ git clone git@github.com:Brazilian-Institute-of-Robotics/bir-black-mouth.git

Build the packages

$ cd ~/caramel_ws/
$ colcon build

Authors

This project was developed as a Course Completion Work of the Electrical Engineering course. To see the final paper, check this repository

Advisor: MSc. Paulo Andrade Souza

Co-advisor: MSc. Marco Antonio dos Reis

Authors: Brenda Silva de Alencar, Felipe Mohr Santos Muniz Barreto, Lucas Lins Souza

authors