MangDang Technology Mini Pupper, Руководство пользователя, Страница: 92 / 106

Mini Pupper, Release 1.0.0-alpha
sudo gedit ~/. bashrc
Then add your Master and hostname config, for an example
export ROS_MASTER_URI = http: // 192.168.1.106 : 11311
export ROS_HOSTNAME = 192.168.1.106
1.2 Mini Pupper Setup
You can also download the pre-built ROS image for Mini Pupper side, named
“xxx.MiniPupper_ROS&OpenCV_Ubuntu20.04.03.img”.
• 1.2.1 Hardware Dependencies
You should first install dependencies of servos, battery moniter and display screen. Please refer to minipupper_ros_bsp
.
• 1.2.2 Controller Joystick interface installation
The Joystick interface in ROS is based on ps4-ros project.
pip install ds4drv
sudo apt install ros
- noetic - joy
sudo wget https: // raw . githubusercontent . com / chrippa / ds4drv / master / udev / 50 - ds4drv . rules -
˓ →
O / etc / udev / rules . d / 50 - ds4drv . rules
sudo udevadm control -- reload - rules
sudo udevadm trigger
sudo reboot
Then go into pairing mode with the controller: Home share button for ~3 sec. Run $ds4drv from command
line until the controller is connected.
ds4drv
This will output something like “Created devices /dev/input/jsX”. Then give the permissions to the device
sudo chmod a + rw / dev / input / jsX
• 1.2.3 Mini Pupper ROS packages installation
Then you can install the ROS packages for Mini Pupper. This should be installed both on Mini Pupper and your
PC.
cd < your_ws >/ src
git clone -- recursive https: // github . com / mangdangroboticsclub / minipupper_ros
cd minipupper_ros / champ
# it ' s not recommend to compile gazebo on raspberry pi
sudo rm - rf champ_gazebo
cd ../../..
rosdep install -- from - paths src -- ignore - src - r - y
catkin_make
source
< your_ws >/ devel / setup . bash
• 1.2.4 Network Setup
Connect your PC and Mini Pupper to the same WiFi and find the assigned IP address with commands below.
88 Chapter 1. ROS2,Open-source,Education Robot Kit