Mini Pupper ROS 2 Humble

Make sure the bsp package is installed to your pupper before installing this repositiory if you are not using a pre-built image to install this repository. Please refer to bsp for mini pupper 2 or bsp for mini pupper according to your model.

For a more detailed guide, please refer to our online documentation.

Supported Software versions

• Ubuntu 22.04 + ROS 2 Humble

Supported Hardware versions

• Mini Pupper: ( ROS pre-built image here )
• Mini Pupper 2: ( ROS pre-built image here ).

1. Installation

Please note that the setup of PC and the mini pupper is separated

• To control Mini Pupper, “1.1 Mini Pupper Setup” is required.
• To use Gazebo simulator, “1.2 PC Setup” is required.
• To control Mini Pupper using visualize tools, “1.1 PC Setup” and “1.2 Mini Pupper Setup” is required.
• To use Gazebo simulator or control Mini Pupper using joystick, “1.4 Joystick Setup” is required.

1.1 Mini Pupper Setup

Mini Pupper Setup corresponds to the Raspberry Pi on your Mini Pupper.
Ubuntu 22.04 is required.

Before installation, you need to install the BSP(board support package) repo for your Mini Pupper 2 or Mini Pupper.

After installing the driver software, install ROS 2 Humble is required, if the installation is unsuccessful, repeat the steps to install the package again.

cd ~
git clone https://github.com/mangdangroboticsclub/mini_pupper_ros.git -b ros2-dev mini_pupper_ros
cd mini_pupper_ros
./pupper_install.sh

Reference(Just for reference, don’t need to do it again.):

installation document for ROS Humble or

unofficial ROS 2 installation script

1.2 PC Setup

PC Setup corresponds to PC (your desktop or laptop PC) for controlling Mini Pupper remotely or execute simulator, if the installation is unsuccessful, repeat the steps to install the package again.
Do not apply these PC Setup commands to your Raspberry Pi on Mini Pupper.

Ubuntu 22.04 + ROS 2 Humble is required.

cd ~
git clone https://github.com/mangdangroboticsclub/mini_pupper_ros.git -b ros2-dev mini_pupper_ros
cd mini_pupper_ros
./pc_install.sh

Reference(Just for reference, don’t need to do it again.):

installation document for ROS Humble or

unofficial ROS 2 installation script

1.3 Connecting Mini Pupper to PC

The mini pupper is assumed to be automatically connected to the PC under same internet environment, but to make sure the mini pupper is connected to the PC, we can check their ROS domain ID (which can be defined by user and is 0 in default cases) according to the following steps:

# Terminal 1 (ssh to real mini pupper)
export | grep "ROS_DOMAIN_ID"

# Terminal 2 (on PC)
export | grep "ROS_DOMAIN_ID"

Compare the output and check if they are the same in both terminals:

Example output:

If the ID are different in both terminal or there is no output of the above commnand, you will have to set the ROS_DOMAIN_ID to the same number using the following command (which number is used does not matter):

To tackle the example output, we can use the following command to set the same id on both terminal:

This command can be used on both PC and Mini Pupper

# Terminal 1 (ssh to real mini pupper)
nano ~/.bashrc
export ROS_DOMAIN_ID=42 #add to the final line of the file

# If your robot is Mini Pupper 2
export ROBOT_MODEL=mini_pupper_2

# If your robot is Mini Pupper
export ROBOT_MODEL=mini_pupper

Save the file and run the following command to apply the change.

# Terminal 1 (ssh to real mini pupper)
source ~/.bashrc

# Terminal 2 (on PC)
nano ~/.bashrc
export ROS_DOMAIN_ID=42 #add to the final line of the file

# If your robot is Mini Pupper 2
export ROBOT_MODEL=mini_pupper_2

# If your robot is Mini Pupper
export ROBOT_MODEL=mini_pupper

Save the file and run the following command to apply the change.

# Terminal 2 (on PC)
source ~/.bashrc

Use the following command in both terminals to confirm that the PC and the mini pupper are connected:

# Terminal 1 (ssh to real mini pupper)
ros2 node list

# Terminal 2 (on PC)
ros2 node list

Compare the output in both terminals:

If the output in both terminals shows the same list of node which is similar to the picture, your PC and the mini pupper is connected. The following steps can be proceeded. Note that the node list depends on the nodes in progress, which may not be exactly the same from the image.

1.4 Joystick Setup

Press the HOME button on the controller. Then search for available bluetooth devices on your PC.

• To check whether the joystick is connected

#(on PC)
sudo apt install joystick 
jstest /dev/input/js0 # there will be output once the joystick is connected

2. Quick Start

2.1 PC

2.1.1 Test in RViz

Note: This step is only for PC

# Terminal 1
. ~/ros2_ws/install/setup.bash # setup.zsh if you use zsh instead of bash
ros2 launch mini_pupper_bringup bringup.launch.py hardware_connected:=False

# Terminal 2
. ~/ros2_ws/install/setup.bash
ros2 launch mini_pupper_bringup rviz.launch.py

• If using keyboard control

# Terminal 3
. ~/ros2_ws/install/setup.bash
ros2 run teleop_twist_keyboard teleop_twist_keyboard

• If using joystick control

# Terminal 3
. ~/ros2_ws/install/setup.bash
ros2 launch teleop_twist_joy teleop-launch.py

2.1.2 Test in Gazebo

Note: This step is only for PC

# Terminal 1
. ~/ros2_ws/install/setup.bash # setup.zsh if you use zsh instead of bash
ros2 launch mini_pupper_simulation main.launch.py

• If using keyboard control

# Terminal 2
. ~/ros2_ws/install/setup.bash
ros2 run teleop_twist_keyboard teleop_twist_keyboard

• If using joystick control

# Terminal 2
. ~/ros2_ws/install/setup.bash
ros2 launch teleop_twist_joy teleop-launch.py

2.1.3 Test SLAM (Mapping) in Gazebo

Note: This step is only for PC

• Bring up Gazebo

# Terminal 1
. ~/ros2_ws/install/setup.bash
ros2 launch mini_pupper_simulation main.launch.py

• Mapping on PC

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

• If using keyboard control

# Terminal 3
. ~/ros2_ws/install/setup.bash
ros2 run teleop_twist_keyboard teleop_twist_keyboard

• If using joystick control

# Terminal 3
. ~/ros2_ws/install/setup.bash
ros2 launch teleop_twist_joy teleop-launch.py

• Save the map

# Terminal 4 (on PC)
. ~/ros2_ws/install/setup.bash
ros2 run nav2_map_server map_saver_cli -f ~/map

The map will be saved under home directory. Two files will be generated, namely map.pgm and map.yaml.

2.1.4 Test Navigation in Gazebo

• Bring up Gazebo

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

• Navigation

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

Alternatively, if you wish to use the map you generated in previous step, you can specify the map path with the following command.

ros2 launch mini_pupper_navigation navigation.launch.py use_sim_time:=true map:=$HOME/map.yaml

After executing this command, the rviz window will be displayed. You can utilize the “2D Post Estimate” feature to establish an appropriate initial pose for the robot. Subsequently, you can set a goal for the robot by clicking on “Nav2 Goal”, hence Nav2 will plan the path and guide the robot towards reaching the goal.

2.2 Mini Pupper

2.2.1 Test walk

Note: This step is only for Mini Pupper

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

# Terminal 1 (ssh)
. ~/ros2_ws/install/setup.bash # setup.zsh if you use zsh instead of bash
ros2 launch mini_pupper_bringup bringup.launch.py

• If using keyboard control

# Terminal 2 (ssh or PC)
. ~/ros2_ws/install/setup.bash
ros2 run teleop_twist_keyboard teleop_twist_keyboard

• If using joystick control

# Terminal 2 (on PC)
. ~/ros2_ws/install/setup.bash
ros2 launch teleop_twist_joy teleop-launch.py

2.2.2 Test SLAM (Mapping)

Note: This step requires both PC and Mini Pupper

• 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

• SLAM on PC

# Terminal 2 (on PC)
. ~/ros2_ws/install/setup.bash
ros2 launch mini_pupper_slam slam.launch.py

Remotely control the Mini Pupper to complete the mapping.

• If using keyboard control

# Terminal 3 (on PC)
. ~/ros2_ws/install/setup.bash
ros2 run teleop_twist_keyboard teleop_twist_keyboard

• If using joystick control

# Terminal 3 (on PC)
. ~/ros2_ws/install/setup.bash
ros2 launch teleop_twist_joy teleop-launch.py

• Save the map
  Run the following command from a new terminal.

# Terminal 4 (on PC)
. ~/ros2_ws/install/setup.bash
ros2 run nav2_map_server map_saver_cli -f ~/map

The map will be saved under home directory. Two files will be generated, namely map.pgm and map.yaml.

2.2.3 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

• Navigation with previously saved map from step 2.2.2

# Terminal 4 (on PC)
. ~/ros2_ws/install/setup.bash
ros2 launch mini_pupper_navigation navigation.launch.py map:=$HOME/map.yaml

2.2.4 Test dance

Please refer to the README.md inside package “mini_pupper_dance”.

2.2.5 Image Recognition

This package base on camera, and is tested utilising a package called v4l2 camera that focuses on Raspberry Pi Camera for most systems.

Note: This step can be done by only using Mini Pupper or both PC and Mini Pupper

Before bringing up mini pupper, please change the config file under

(ssh)
~/ros2_ws/src/mini_pupper_ros/mini_pupper_bringup/config

Open the configuration file according to the model that you are using (eg. if you are using mini pupper 2 then change the value of mini_pupper_2.yaml).

Change the value of camera to true and that of lidar to false so that camera is turned on for the function as the following example of mini pupper 2.

sensors:
  lidar: false
  imu: true
  camera: true
ports: 
  lidar: '/dev/ttyAMA1'

• 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

• Launch all nodes (currently including line following only)

# Terminal 2 (ssh or PC)
. ~/ros2_ws/install/setup.bash
ros2 launch mini_pupper_recognition recognition.launch.py #pid:=false if want to disable pid

• Watch the image from pc

# Terminal 3 (PC)
ros2 run rqt_image_view rqt_image_view

• Launch the GenAI Image Recognition Line Following Demo (This is a code sample written to demonstrate the use of GenAI for image recognition and line following, but it is not recommended to use it as a primary function for line following, as there may be significant delays) This code requires access to our repository of generative AI models and supporting infrastructure.

. ~/ros2_ws/install/setup.bash
ros2 launch mini_pupper_recognition cloud_line_demo.launch.py

License

Copyright 2022-2024 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.

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_driver.
  • A. The following warnings can be safely ignored. See mini_pupper_ros#45 for details.

  Starting >>> mini_pupper_description
  --- stderr: mini_pupper_driver
  /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_driver [7.37s]
  

How to Contribute

Thank you for your interest and time spent contributing!
We welcome contributions from everyone, and to ensure our community stays open and healthy we adhere to the Contributor Covenant, a widely used code of conduct adopted by many other communities such as Linux, Autoware, GitLab.

Communication

First, please read through our code of conduct, as we expect all our contributors to follow it.

Second, before starting on a project that you intend to contribute to any of our projects, we strongly recommend posting on the repository’s Issues page or Discord and briefly outlining the changes you plan to make.
This will enable us to provide some context that may be helpful for you. This could range from advice and feedback on how to optimally perform your changes or reasons for not doing it.

Contribution Workflow

1. Create an issue or post on Discord defining your intended contribution
2. Create a fork
   • For more information about the fork-and-pull model, see the GitHub Docs.
3. Write code
4. Create a pull request
   • Fill the template
   • For more information about the fork-and-pull model, see the GitHub Docs.
5. Finish a pull request
   • In order for a pull request to be merged to mini_pupper_ros, it must meet the following criteria:
     • All discussions on the pull request must be resolved.
     • All items of the pull request checklist are checked off.
     • CI jobs for the pull request must have passed successfully.

Pull Requests

For Pull Requests, please target the ros2 branch for any ROS 2 contributions, and the ros1 branch for any ROS 1 contributions.
To contribute, please check out the ros2 branch, and then create your feature branch from there:

git checkout ros2                # start with the ros2 branch
git pull origin ros2             # pull remote repo changes
git checkout your-feature-branch # create your feature branch

Then when you submit a Pull Request, please select the ros2 branch to request to merge your commits.

If you are interested in understanding this development style a bit further, we follow the GitHub Flow model of branching.

Guildlines for Development

License

mini_pupper_ros is licensed under the Apache 2.0 License, and thus all contributions will be licensed as such as per clause 5 of the Apache 2.0 License:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Code Style

We follow the ROS code style guidelines as closely as possible. Please ensure that any new contributions are compatible with C++17 and Python3.x.

To check Python code style, run the following command in the ROS workspace.

ament_flake8
ament_pep257

To check C++ code style, run the following command in the ROS workspace.

ament_clang_format --reformat
ament_uncrustify --reformat
ament_cpplint

After checking all styles, run the following command to test the ROS package configuration in the ROS workspace.

colcon test --packages-select-regex "mini_pupper*"
colcon test-result --verbose  # confirm this shows "0 errors, 0 failures, 0 skipped"

This guide is based on https://autowarefoundation.gitlab.io/autoware.auto/AutowareAuto/contributor-guidelines.html#contributors-guidelines-formatting