{"id":15023678,"url":"https://github.com/sweetie-bot-project/sweetie_bot","last_synced_at":"2025-06-13T09:05:27.420Z","repository":{"id":69292029,"uuid":"190017359","full_name":"sweetie-bot-project/sweetie_bot","owner":"sweetie-bot-project","description":"Main Sweetie Bot robot control software repository","archived":false,"fork":false,"pushed_at":"2025-04-10T19:52:31.000Z","size":7841,"stargazers_count":10,"open_issues_count":0,"forks_count":2,"subscribers_count":2,"default_branch":"master","last_synced_at":"2025-04-10T20:47:41.018Z","etag":null,"topics":["robot","robotframework","robotics","ros","sweetie-bot","sweetiebot","walking","walking-robot"],"latest_commit_sha":null,"homepage":null,"language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"other","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/sweetie-bot-project.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":"CONTRIBUTING.md","funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2019-06-03T14:04:42.000Z","updated_at":"2025-04-10T19:52:36.000Z","dependencies_parsed_at":"2024-04-13T21:40:40.558Z","dependency_job_id":"0647caa1-8fbf-469d-843b-e706401963a6","html_url":"https://github.com/sweetie-bot-project/sweetie_bot","commit_stats":{"total_commits":779,"total_committers":10,"mean_commits":77.9,"dds":0.2670089858793325,"last_synced_commit":"f15f9cb01f2763d0b9d62624a400a01961609762"},"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/sweetie-bot-project%2Fsweetie_bot","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/sweetie-bot-project%2Fsweetie_bot/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/sweetie-bot-project%2Fsweetie_bot/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/sweetie-bot-project%2Fsweetie_bot/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/sweetie-bot-project","download_url":"https://codeload.github.com/sweetie-bot-project/sweetie_bot/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":248317707,"owners_count":21083528,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["robot","robotframework","robotics","ros","sweetie-bot","sweetiebot","walking","walking-robot"],"created_at":"2024-09-24T19:59:19.713Z","updated_at":"2025-04-10T23:51:03.552Z","avatar_url":"https://github.com/sweetie-bot-project.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"Sweetie Bot software repository \n===================================\n\nThis repository contains software framework for the [Sweetie Bot robot](http://sweetie.bot).\n\n**Note:** We are hosting all our code on [gitlab.com](https://gitlab.com/sweetie-bot/). We also have a [github mirror](https://github.com/sweetie-bot-project/), but we do not accept pull requests there, plese use [primary source](https://gitlab.com/sweetie-bot/sweetie_bot).\nAlso see [`CONTRIBUTING`](CONTRIBUTING.md) page for details.\n\n![](doc/figures/control-system.png)\n\nBuild status               | master branch  |\n---------------------------|----------------|\nros-noetic-sweetie-bot-base | [![pipeline status](https://gitlab.com/slavanap/ros-build/badges/master/pipeline.svg)](https://gitlab.com/slavanap/ros-build/-/commits/master) |\nros-noetic-sweetie-bot      | [![pipeline status](https://gitlab.com/sweetie-bot/sweetie_bot/badges/master/pipeline.svg)](https://gitlab.com/sweetie-bot/sweetie_bot/-/commits/master) |\n\n## Overview\n\nSweetie Bot control software is based on [Robot Operating System (ROS)](http://wiki.ros.org/ROS/Introduction). Also, it uses [OROCOS](http://www.orocos.org/wiki/orocos/toolchain/getting-started) middleware to implement real-time motion control subsystem. See [`sweetie_bot_deploy`](config/sweetie_bot_deploy) and  [`rt_control`](rt_control) for more details (namespaces, nodes, configuration parameters).\n\nSweetie Bot software support two modes: real and virtual. \n1. In a virtual mode it runs completely on the host computer. The real robot is not needed. You can program robot behaviors in a virtual environment (3d model). \n2. In a real mode it controls the real robot. One part of software runs the host computer and another part works the on-board computer. \n\nCurrent version of Sweetie Bot control software provides following functionality:\n1. Joint level control using [`joint_state_publisher`](http://wiki.ros.org/joint_state_publisher).\n2. The control in Cartesian space (for the limbs and the body) using [pose markers](hmi/sweetie_bot_rviz_interactions) and [MoveIt!](https://moveit.ros.org/) integration.\n3. Movements creation (See [TrjectoryEditor](hmi/sweetie_bot_joint_trajectory_editor))\n4. High-level control based on [FlexBe](http://philserver.bplaced.net/fbe/) hybrid finite state machines via external repository [`sweetie_bot_flexbe_behaviors`](https://gitlab.com/sweetie-bot/sweetie_bot_flexbe_behaviors).\n\n## Repository content\n\nThis repository contains all necessary software components to run the Sweetie Bot robots except for movements, sounds and actual behaviors which are stored in separate repositories\n([`sweetie_bot_proto2_movements`](https://gitlab.com/sweetie-bot/sweetie_bot_proto2_movements), [`sweetie_bot_sounds`](https://gitlab.com/sweetie-bot/sweetie_bot_sounds) and \n[`sweetie_bot_flexbe_behaviors`](https://gitlab.com/sweetie-bot/sweetie_bot_flexbe_behaviors).\n\n* [`config`](config) directory contains robot configuration and deployment scripts\n    * `sweetie_bot_deploy` --- robot-independent OROCOS deployment scripts and ROS launch files.\n\t* `sweetie_bot_proto2_deploy` --- robot-specific parameters and launch files for Proto2 Sweetie Bot robot.\n\t* `sweetie_bot_proto2_description` --- URDF model of Proto2 (git submodule).\n\t* `sweetie_bot_proto2_moveit_config` --- MoveIt! configuration for Proto2.\n* [`rt_control`](https://gitlab.com/sweetie-bot/sweetie_bot_rt_control) --- OROCOS-based motion control subsystem (git submodule).\n* [`hardware`](hardware) --- hardware-depended components.\n    * `sweetie_bot_eyes` --- eyes visualization.\n* [`behavior`](behavior) --- high-level control subsystem (not implemented yet).\n* [`hmi`](hmi) --- operator interface components, intended to be running on the host computer.\n\n## Installation\n\nThe following instruction describes the installation process from binary packages. If you want to compile the whole project yourself see [`DEVELOPERS`](DEVELOPERS.md) page.\n\n### System requirements\n\nCheck your system before install:\n\n* OS: Ubuntu Focal (20.04) or Debian Buster. For Windows and Mac users we recommend virtual machine with linux installed in it. Windows users can try [WSL](https://janbernloehr.de/2017/06/10/ros-windows) but it is less supported method.\n* CPU: x86-64 2 GHz dual core processor or better\n* RAM: 4 GB system memory\n* GPU: Almost any modern GPU with OpenGL 2.1 hardware acceleration support\n* HDD: 3 GB of free hard drive space\n* WAN: Internet access\n\n#### Install apt repositories with the all necessary dependencies\n\nThere are three ways to install control software from a binary packages:\n\n1. Automatic script (recommended)\n\nRun the script in your terminal, it will automatically install apt repositories with the all necessary dependencies:\n\n```\nwget -qO - https://apt.sweetie.bot/install.bash | sudo bash\n```\n\nInstall software packages\n```\nsudo apt install ros-noetic-sweetie-bot\n```\n\n2. Add apt repositories manually \n\nAlternatively you can install the ROS Noetic repository as listed in official ['ROS instruction'](http://wiki.ros.org/noetic/Installation/Ubuntu) and Sweetie Bot repository.\n\n```\nsudo sh -c 'echo \"deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main\" \u003e /etc/apt/sources.list.d/ros-latest.list'\nsudo sh -c 'echo deb http://apt.sweetie.bot $(lsb_release -sc) main \u003e /etc/apt/sources.list.d/sweetie-bot.list'\n```\n\nNext you have to set up your keys:\n```\ncurl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -\nwget -qO - https://apt.sweetie.bot/repository.key | sudo apt-key add -\n```\n\nUpgrade and install software packages\n```\nsudo apt update \u0026\u0026 sudo apt upgrade\nsudo apt install ros-noetic-sweetie-bot\n```\n\n3. Download packages manually\n\nAlternatively you can download deb packages manually.\n\nFirst of all refer ['ROS Installation instruction'](http://wiki.ros.org/noetic/Installation/Ubuntu) manual to add official ROS repositary.\n\nDownload zip from [here](https://gitlab.com/sweetie-bot/sweetie_bot/pipelines).\nClick on first green check mark ✓ and choose your OS, click \"Download\" at the next page.\nUnpack zip file and install both .deb packages included.\n\n```\nunzip sweetie-bot-focal-amd64.zip\nsudo dpkg -i sweetie-bot-*.deb\nsudo apt install -f\n```\n\n#### Setup workspace\n\nUser editable part of sweetie bot software must be installed to the home directory of current user.\n\nInstall `sweetie_bot_sounds`, `sweetie_bot_proto2_movements` and `sweetie_bot_flexbe_behaviors`: \n```\nmkdir -p ~/ros/sweetie_bot/src\ncd ~/ros/sweetie_bot/src\ngit clone https://gitlab.com/sweetie-bot/sweetie_bot_sounds.git\ngit clone https://gitlab.com/sweetie-bot/sweetie_bot_proto2_movements.git\n```\nBuild workspace\n```\ncd ~/ros/sweetie_bot\nsource /opt/ros/sweetie_bot/setup.bash\ncatkin_make\n```\n\n**Note:** Run this to supress priority warnings `Forcing priority (20)`:\n\n```\necho -e \"@realtime   -  rtprio     99\\n@realtime   -  memlock    unlimited\" | sudo tee /etc/security/limits.d/99-realtime.conf\nsudo groupadd realtime\nsudo usermod -a -G realtime $USER\n```\n\n## Usage\n\nSet ROS environment once in the every terminal before you start any of the following commands:\n```\nsource ~/ros/sweetie_bot/devel/setup.bash\n```\n\nTo start basic control framework:\n\n```\nroslaunch sweetie_bot_deploy joint_space_control.launch\n```\n\nFollowing command starts MoveIt! `move_group` and FlexBe subsystem:\n\n```\nroslaunch sweetie_bot_deploy flexbe_control.launch run_flexbe_gui:=true run_moveit:=true\n```\n\nFor more details see [`sweetie_bot_deploy` package](config/sweetie_bot_deploy).\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsweetie-bot-project%2Fsweetie_bot","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fsweetie-bot-project%2Fsweetie_bot","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsweetie-bot-project%2Fsweetie_bot/lists"}