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https://github.com/ndhana94/hyperdog_ros2
HyperDog is a quadruped robot which is fully based on ROS 2 and Micro-ROS
https://github.com/ndhana94/hyperdog_ros2
micro-ros micro-ros-stm32 quadruped-robot quadruped-robot-gaits quadruped-simulation ros2
Last synced: 3 days ago
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HyperDog is a quadruped robot which is fully based on ROS 2 and Micro-ROS
- Host: GitHub
- URL: https://github.com/ndhana94/hyperdog_ros2
- Owner: NDHANA94
- License: mit
- Created: 2022-04-16T19:24:09.000Z (almost 3 years ago)
- Default Branch: foxy
- Last Pushed: 2024-09-08T19:58:06.000Z (4 months ago)
- Last Synced: 2025-01-08T15:17:18.668Z (10 days ago)
- Topics: micro-ros, micro-ros-stm32, quadruped-robot, quadruped-robot-gaits, quadruped-simulation, ros2
- Language: Python
- Homepage:
- Size: 4.87 MB
- Stars: 77
- Watchers: 5
- Forks: 21
- Open Issues: 5
-
Metadata Files:
- Readme: README.md
- Funding: .github/FUNDING.yml
- License: LICENSE
Awesome Lists containing this project
README
# hyperdog_ros2
HyperDog is a quadruped robot which is fully based on ROS 2 and Micro-ROS.
### Publications:
- [`HyperDog` | IEEE SMC-2022](https://ieeexplore.ieee.org/document/9945526)
- [`DogTouch` | IEEE VTC-2022](https://ieeexplore.ieee.org/document/9860815)
- [`HyperGuider` | IEEE SMC-2022](https://ieeexplore.ieee.org/document/9945364)
- [`HyperPalm` | IEEE SMC-2022](https://ieeexplore.ieee.org/document/9945223)
### YouTube:
- [HyperDog Demo](https://youtu.be/Dx1U2J1avO0)
- [IEEE SMC-2023 presentation](https://youtu.be/mFgaS3f5-pw)
- [HyperDog Playlist](https://www.youtube.com/watch?v=1CIkmu7lIlY&list=PL8ZSjYfd0W-1BoGKr-xrBt6LwaWn_EVaN)
## Contains
This repository contains ros2 packages for quadruped robot HyperDog.
packages are :
1. **`hyperdog_msgs`** : this package contains the msgs those used by other packages.
1. `JoyCtrlCmds` : this contains the control variables of the robot from the gamepad
- `bool[3] states` : { start, walk, side_move_mode}
- `uint8 gait_type` : to change the gait type
- `geometry_msgs/Pose pose` : to control slant(x,y) and roll,pitch,yaw
- `geometry_msgs/Vector3 gait_step` : gait_step.x = steplen_x, gait_step.y = steplen_y, gait_step.z = swing_height
2. `Geometry`: this contains the parameters for coordinate of each leg and body orientation(roll,pitch,yaw)
- `geometry_msgs/Point32 fr` : x,y,z end effector coordinates of FR leg
- `geometry_msgs/Point32 fl` : x,y,z end effector coordinates of FL leg
- `geometry_msgs/Point32 br` : x,y,z end effector coordinates of BR leg
- `geometry_msgs/Point32 bl` : x,y,z end effector coordinates of BL leg
- `geometry_msgs/Quaternion euler_ang` : roll, pitch, yaw angles
2. **`hyperdog_teleop`** : this pkg creates `/hyperdog_teleop_gamepad_node.
- Node 1 : `/joy_node`
This node creates commands to robot from Gamepad commands
- subscriber : `/joy_node`
- publisher : `/hyperdog_joy_ctrl_cmd` using the interface `hyperdog_msgs/msg/JoyCtrlCmd`
3. **`hyperdog_ctrl`** : This pkg has `Body_motion_planner` and `gait_generater` and creates the nodes `/command_manager_node` and `/IK_node`
- `Body_motion_planner` : plans body motions from control commands receive from `/command_manager_node`
- `gait_generator` : generates gaits acording to the given gait_type command from the Gamepad
- Node 1 : `/command_manager_node`
- subscriber : `/hyperdog_joy_ctrl_cmd` via `hyperdog_msgs/msg/JoyCtrlCmds` interface
- publisher : `/hyperdog_geometry` via `hyperdog_msgs/msg/Geometry` interface
- Node 2 : `/IK_node`
- subscriber : `/hyperdog_geometry` via `hyperdog_msgs/msg/Geometry` interface
- publisher : `/hyperdog_jointController/commands`
4. **`uros`** : this is the micro_ros package from its official git. this package is used to launch `micro_ros_agent` to communicate with micro-controllers which run micro_ros via ROS2
5. **`hyperdog_launch`** : This contains the launch file for all the above nodes and `micro_ros_agent`
6. **`hyperdog_gazebo_sim`** : Gazebo simmulation
7. **`hyperdog_gazebo_joint_cmd`** : this pkg contains the node `/hyperdog_gazebo_joint_cmd` to send joint angles to gazebo
- Node : `/hyperdog_gazebo_joint_cmd`
- subscriber : `/hyperdog_jointController/commands`
- publisher : '/gazebo_joint_controller/commands`
## Building
1. Create a ROS2 workspace and build this package for ROS2 foxy
```
# make the workspace
mkdir hyperdog_ws/src
cd hyperdog_ws/src
# download the pkg
git clone https://github.com/NDHANA94/hyperdog_ros2.git
# build the pkg
cd ..
colcon build
```
2. build `micro_ros_agent` in hyperdog_ws from the git repository https://github.com/micro-ROS/micro_ros_setup/tree/foxy. follow instuction and build the micro_ros_agent.
3. edit line 41 in hyperdog_ros2/src/hyperdog_launch/launch/hyperdog.launch.py script to configure your serial port.
4. go to `hyperdog_ws` directory and build all the packages again
# Launching
source the workspace
```
source hyperdog_ws/install/setup.bash
```
to add workspace source permenently to .bashrc:
```
# add source
echo "source /home/$USER/hyperdog_ws/install/setup.bash" >> ~/.bachrc
```
to launch run following
```
ros2 launch hyperdog_launch hyperdog.launch.py
```
to launch gazebo with hyperdog
```
ros2 launch hyperdog_gazebo_sim hyperdog_gazebo_sim.launch.py
```
# Known bugs:
- gazebo-ros2-control pkg doesn't work properly. So the robot slides on the ground.