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Mini Pupper ROS 2

Mini Pupper is an open-source 12-DOF quadruped robot, supporting ROS 2 (Robot Operating System) designed for educational purposes, research, and experimentation. With ROS 2, you can explore SLAM and Navigation functions with Mini Pupper. The controller of Mini Pupper's ROS packages is based on the Stanford QuadrupedRobot project.
This branch of the mini_pupper_ros repository contains the ROS 2 packages for Mini Pupper.

Features

  • Support for ROS 2 Humble and Ubuntu 22.04 LTS
  • Built-in ROS 2 Interface for Stanford QuadrupedRobot
  • ROS2 SLAM and Navigation functions supported

Installation

  • To use the Gazebo simulator, "1. PC Setup" is required.
  • To control Mini Pupper, "2. Mini Pupper Setup" is required.
  • To control Mini Pupper using visualize tools, "1. PC Setup" and "2. Mini Pupper Setup" is required.

1. PC Setup

PC Setup corresponds to PC (your desktop or laptop PC) for controlling Mini Pupper remotely or executing the simulator.

Click here for PC Setup

Notes:

- Do not apply these PC Setup commands to your Raspberry Pi on Mini Pupper.
- Ubuntu 22.04 + ROS 2 Humble is required.

1.1 ROS 2 installation

Please follow the installation document for ROS Humble or use the unofficial ROS 2 installation script.

1.2 Download the Mini Pupper ROS 2 & dependencies packages

After ROS 2 installation, download the Mini Pupper ROS package in the workspace.

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/mangdangroboticsclub/mini_pupper_ros.git -b ros2
vcs import < mini_pupper_ros/.minipupper.repos --recursive  # requires vcstool

Notes: If you haven't installed vcstool, please install vcstool first.

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt-get update
sudo apt-get install python3-vcstool

1.3 Build and install all ROS packages

cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
sudo apt-get install ros-humble-teleop-twist-keyboard
pip install transforms3d
colcon build --symlink-install

2. Mini Pupper Setup

Mini Pupper Setup corresponds to the Raspberry Pi on your Mini Pupper.

Click here for Mini Pupper Setup

Notes:

- Do not apply these Mini Pupper setup commands to your PC.
- Ubuntu 22.04 + ROS 2 Humble is required.

2.1 mini_pupper_bsp installation

You should first install dependencies of servos, battery monitor, and display screen.
See mini_pupper_bsp.

2.2 ROS 2 installation

After installing the driver software, install ROS 2. ROS 2 Humble is required.
Please follow the installation document for ROS Humble or use the unofficial ROS 2 installation script.

2.3 Download the Mini Pupper ROS 2 & dependencies packages

After ROS 2 installation, download the Mini Pupper ROS package in the workspace.

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/mangdangroboticsclub/mini_pupper_ros.git -b ros2
vcs import < mini_pupper_ros/.minipupper.repos --recursive  # requires vcstool
# compiling the gazebo and cartographer on Raspberry Pi is not recommended
touch mini_pupper_ros/mini_pupper_gazebo/AMENT_IGNORE
touch mini_pupper_ros/mini_pupper_navigation/AMENT_IGNORE

Notes:
If you haven't installed vcstool, please install vcstool first.

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt-get update
sudo apt-get install python3-vcstool

2.4 Build and install all ROS packages

# install dependencies without unused heavy packages
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y --skip-keys=joint_state_publisher_gui --skip-keys=rviz2 --skip-keys=gazebo_plugins --skip-keys=velodyne_gazebo_plugins
sudo apt-get install ros-humble-teleop-twist-keyboard
pip install transforms3d
colcon build --symlink-install

Tips:

# If the Raspberry Pi has less than 4GB memory, please try
MAKEFLAGS=-j1 colcon build --executor sequential --symlink-install
# instead of `colcon build --symlink-install`

Quick Start

To try the Mini Pupper ROS2, follow these steps to run the examples.

1. PC [NOT AVAILABLE NOW]

These steps are only for PC.

Click here for examples on PC

1.1 Test in Rviz2

View the Mini Pupper model in Rviz2 and control it with a keyboard.

# Terminal 1
. ~/ros2_ws/install/setup.bash # setup.zsh if you use zsh instead of bash
ros2 launch mini_pupper_bringup bringup.launch.py joint_hardware_connected:=false rviz:=true
# Terminal 2
ros2 run teleop_twist_keyboard teleop_twist_keyboard
# Then control the pupper with the keyboard

1.2 Test in Gazebo

Control the mini pupper in Gazebo with a keyboard.

# Terminal 1
. ~/ros2_ws/install/setup.bash # setup.zsh if you use zsh instead of bash
ros2 launch mini_pupper_gazebo gazebo.launch.py rviz:=true

# Terminal 2
ros2 run teleop_twist_keyboard teleop_twist_keyboard
# Then control robot dog with the keyboard

1.3 Test Cartographer in Gazebo

Try SLAM in Gazebo with a keyboard.

# Terminal 1
. ~/ros2_ws/install/setup.bash
ros2 launch mini_pupper_gazebo gazebo.launch.py

# Terminal 2
. ~/ros2_ws/install/setup.bash
ros2 launch mini_pupper_navigation slam.launch.py use_sim_time:=true

# Terminal 3
ros2 run teleop_twist_keyboard teleop_twist_keyboard
# Then control the pupper with your keyboard

2. Mini Pupper

These steps are only for real Mini Pupper.

Click here for examples on real Mini Pupper

2.1 Test walk

Open 2 terminals and ssh login to Mini Pupper on both.

# Terminal 1 (ssh to real mini pupper)
. ~/ros2_ws/install/setup.bash # setup.zsh if you use zsh instead of bash
ros2 launch mini_pupper_bringup bringup.launch.py
# Terminal 2 (on PC)
ros2 run teleop_twist_keyboard teleop_twist_keyboard
# Then control the Mini Pupper with the keyboard

2.2 Test Mapping

  • Bring up real mini pupper
# Terminal 1 (ssh to real mini pupper)
. ~/ros2_ws/install/setup.bash
ros2 launch mini_pupper_bringup bringup.launch.py  # on real mini pupper
  • Mapping on PC
# Terminal 2 (on PC)
. ~/ros2_ws/install/setup.bash
ros2 launch mini_pupper_navigation slam.launch.py  # on PC
  • Keyboard control
    Use the keyboard to remotely control the mini pupper to complete the mapping.
# Terminal 3 (on PC)
ros2 run teleop_twist_keyboard teleop_twist_keyboard
  • Save the map
    If you want to save the map:
# Terminal 4 (on PC)
ros2 service call /finish_trajectory cartographer_ros_msgs/srv/FinishTrajectory "{trajectory_id: 0}"
ros2 service call /write_state cartographer_ros_msgs/srv/WriteState "{filename: '${HOME}/mymap.pbstream'}"
ros2 run nav2_map_server map_saver_cli -f ${HOME}/mymap

2.3 Test Navigation

  • Bring up real mini pupper
# Terminal 1 (ssh to real mini pupper)
. ~/ros2_ws/install/setup.bash
ros2 launch mini_pupper_bringup bringup.launch.py  # on real mini pupper
  • Replace the mymap files
    Remember to replace the mymap.pbstream in the maps folder with your mymap.pbstream first.
# Terminal 2 (on PC)
sudo cp ~/mymap.pgm ~/ros2_ws/src/mini_pupper_ros/mini_pupper_navigation/maps/mymap.pgm
sudo cp ~/mymap.pbstream ~/ros2_ws/src/mini_pupper_ros/mini_pupper_navigation/maps/mymap.pbstream
sudo cp ~/mymap.yaml ~/ros2_ws/src/mini_pupper_ros/mini_pupper_navigation/maps/mymap.yaml
  • Localization
# Terminal 3 (on PC)
. ~/ros2_ws/install/setup.bash
ros2 launch mini_pupper_navigation localization.launch.py  # on PC
  • Navigation
# Terminal 4 (on PC)
. ~/ros2_ws/install/setup.bash
ros2 launch mini_pupper_navigation navigation.launch.py  # on PC

FAQ

  • Q. Is Ubuntu 20.04 supported?
    • A. No. Ubuntu 22.04 only for now.
  • Q. Is ROS 2 Foxy/Galactic supported?
    • A. No. ROS 2 Humble only for now.
  • Q. colcon build shows 1 package had stderr output: mini_pupper_control. 
    Starting >>> mini_pupper_description
--- stderr: mini_pupper_control
/usr/lib/python3/dist-packages/setuptools/command/easy_install.py:158: EasyInstallDeprecationWarning: easy_install command is deprecated. Use build and pip and other standards-based tools.
  warnings.warn(
/usr/lib/python3/dist-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools.
  warnings.warn(
/usr/lib/python3/dist-packages/pkg_resources/__init__.py:116: PkgResourcesDeprecationWarning: 1.1build1 is an invalid version and will not be supported in a future release
  warnings.warn(
/usr/lib/python3/dist-packages/pkg_resources/__init__.py:116: PkgResourcesDeprecationWarning: 0.1.43ubuntu1 is an invalid version and will not be supported in a future release
  warnings.warn(
---
Finished <<< mini_pupper_control [7.37s]

Contributing

Contributions are welcome! Please read the contributing guidelines before submitting a pull request.

License

This project is licensed under the Apache-2.0 License. See LICENSE for more information.

Copyright 2022-2023 MangDang

   Licensed under the Apache License, Version 2.0 (the "License");
   you may not use this file except in compliance with the License.
   You may obtain a copy of the License at

     http://www.apache.org/licenses/LICENSE-2.0

   Unless required by applicable law or agreed to in writing, software
   distributed under the License is distributed on an "AS IS" BASIS,
   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   See the License for the specific language governing permissions and
   limitations under the License.

Acknowledgments

Stanford QuadrupedRobot