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cyberdog_locomotion package from cyberdog_locomotion repo

cyberdog_locomotion

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Package Summary

Tags No category tags.
Version 0.0.0
License TODO: License declaration
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/miroboticslab/cyberdog_locomotion.git
VCS Type git
VCS Version master
Last Updated 2023-09-07
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

TODO: Package description

Additional Links

No additional links.

Maintainers

  • robotics_lab

Authors

No additional authors.
README.md

CYBERDOG LOCOMOTION

小米四足机器人运动控制代码库，基于MIT Cheetah Software开源项目构建，主要包括以下几个部分：

  • common: 子模块共享代码
  • control: 控制器代码
  • hardware: 硬件相关代码
  • simbridge: 外部仿真器接口代码
  • scripts: 脚本工具

警告：该运动控制代码只在铁蛋2代上进行了充分测试。对于铁蛋1代，仅支持1代APP中除作揖和打滚之外的功能，且未经充分测试，请谨慎使用!

安装部署

安装部署分两种使用场景，一是仿真使用，二是实机部署。由于机器人机载算力有限，两种方式都需要在外部PC上编译，首先需要安装依赖：

安装依赖

  • 安装Eigen
$ git clone https://gitlab.com/libeigen/eigen.git
$ cd eigen
$ git checkout 3.3.7
$ mkdir build
$ cd build
$ cmake ..
$ sudo make install
  • 安装yaml-cpp
$ git clone https://github.com/jbeder/yaml-cpp.git
$ cd yaml-cpp
$ git checkout yaml-cpp-0.6.3
$ mkdir build
$ cd build
$ cmake -DYAML_BUILD_SHARED_LIBS=ON ..
$ make -j4
$ sudo make install
  • 安装JAVA 11 (仅用于记录和查看lcm数据)
$ sudo apt install openjdk-11-jdk
  • 安装lcm
$ git clone https://github.com/lcm-proj/lcm.git
$ cd lcm
$ mkdir build
$ cd build
$ cmake -DLCM_ENABLE_JAVA=ON ..
$ make
$ sudo make install
  • 安装docker (仅用于交叉编译)

按照下面的链接所附步骤进行安装：

https://www.cnblogs.com/wt7018/p/11880666.html

或

https://docs.docker.com/engine/install/ubuntu/

然后给docker设置root权限：

$ sudo groupadd docker
$ sudo usermod -aG docker $USER
  • 下载所需docker镜像
$ wget https://cdn.cnbj2m.fds.api.mi-img.com/os-temp/loco/loco_arm64_20220118.tar
$ docker load --input loco_arm64_20220118.tar
$ docker images

或者用DockerFile制作镜像，具体细节请查看说明文档。

仿真部署

在外部PC本地编译，仅限用于本地调试开发，其生成的可执行文件一般不能直接发送到机器人上运行。首先下载本代码仓：

$ git clone https://github.com/MiRoboticsLab/cyberdog_locomotion.git

然后进行编译：

$ cd cyberdog_locomotion
$ mkdir build
$ cd build
$ cmake ..
$ make -j4

注：编译过程中如遇到fatal error: GL/glut.h: No such file or directory，可安装：

$ sudo apt-get install freeglut3-dev

以上流程可用于检测代码的完整性和可编译性。如需启用Gazebo仿真，可下载cyberdog_sim代码仓（包含此运控代码）并通过colcon进行ROS2环境下的编译，详见cyberdog_sim仓的ReadMe：

$ git clone https://github.com/MiRoboticsLab/cyberdog_sim.git
$ cd cyberdog_sim
$ vcs import < cyberdog_sim.repos

下载完代码后，将src/cyberdog_locomotion/CMakeLists.txt中的BUILD_ROS置为ON后进行编译：

$ source /opt/ros/galactic/setup.bash
$ colcon build --merge-install --symlink-install --packages-up-to cyberdog_locomotion cyberdog_ros2

编译完成后，在cyberdog_sim目录下通过python脚本即可运行仿真程序：

$ python3 src/cyberdog_ros2/cyberdog_gazebo/script/launchsim.py

实机部署

为了能使编译的文件可以直接在机器人上运行，需要在特定的docker镜像环境下进行交叉编译，具体步骤如下：

$ docker run -it --rm --name alan -v your_own_path/cyberdog_locomotion:/work/build_farm/workspace/cyberdog cr.d.xiaomi.net/athena/athena_cheetah_arm64:2.0 /bin/bash
$ cd /work/build_farm/workspace/cyberdog/
$ mkdir onboard-build
$ cd onboard-build

注意：your_own_path/cyberdog_locomotion需要使用绝对路径。

  • 如要编译Cyberdog:
$ cmake -DCMAKE_TOOLCHAIN_FILE=/usr/xcc/aarch64-openwrt-linux-gnu/Toolchain.cmake -DONBOARD_BUILD=ON -DBUILD_FACTORY=ON -DBUILD_CYBERDOG2=OFF ..
$ make -j4
  • 如要编译Cyberdog2:
$ cmake -DCMAKE_TOOLCHAIN_FILE=/usr/xcc/aarch64-openwrt-linux-gnu/Toolchain.cmake -DONBOARD_BUILD=ON -DBUILD_FACTORY=ON -DBUILD_CYBERDOG2=ON ..
$ make -j4

编译成功后, 将电脑连接至机器人的网口(Cyberdog2)或者Download USB口(Cyberdog)，然后可将生成的文件发送给机器人：

$ cd ~/cyberdog_locomotion/scripts
$ sudo ./scp_to_cyberdog.sh

文件发送成功后，运控程序会即刻生效运行。

数据分析

安装Python/Python3相关组件，下面以Python3为例：

$ sudo apt install python3
$ sudo apt install python3-pip
$ pip3 install numpy
$ pip3 install scipy
$ pip3 install lcm

在仿真/实际机器人运行时，可通过lcm工具进行数据分析：

$ cd ~/cyberdog_locomotion/scripts
$ ./make_types.sh # 生成数据类型，只需在首次或有新数据类型时执行
$ ./launch_lcm_spy.sh # 实时显示
$ ./launch_lcm_log.sh # 数据存储
$ ./launch_lcm_logplayer.sh #数据回放

开源要求

代码格式

代码格式由工程目录下.clang-format文件约定。使用方法如下：

$ sudo apt install clang-format # 安装clang-format
$ clang-format -i file_to_format.cpp # 更新指定文件格式
$ find . -regex '.*\.\(cpp\|hpp\|c\|h\)' -exec clang-format -style=file -i {} \; # 更新当前及其子目录下所有cpp, hpp, c, h文件格式。

代码风格

本代码遵循谷歌开源项目代码风格，具体参见网址。

代码提交

为方便代码追溯，请遵循如下提交格式：

[Fix/New/Modify]: summary

JIRA-ID: N/A

1. commit message

Change-ID
Signed-off-by: xxx <xxx@company.com>
# Line 1：summary行，格式为：[提交类型]+[冒号]+[空格]+[简明该提交代码功能], 限制字符为80字符，不能换行
# Line 2：空行
# Line 3：JIRA-ID (没有就填N/A)
# Line 4：空行
# Line 5：进版原因(commit message)
# Line 6：空行
# Line 7: Change-Id行,git hooks会自动生成
# Line 8：Singed-off信息

需要注意的事项有：

  • 用git commit -s指令来提交，以自动生成Signed-off信息;
  • 提交类型只限Fix（Bug修复），New（新功能），Modify（改进代码）三种；
  • commit message尽量写得详细，交代清楚问题，分析原因，避免和summary行雷同，支持中文。

为方便提交，可使用提交模板：

$ git config --global commit.template 当前文件夹地址/.commit-template
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
launch_ros
ament_cmake
ament_lint_auto
ament_lint_common
rclcpp
yaml_cpp_vendor

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged cyberdog_locomotion at Robotics Stack Exchange

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