MangDang Technology Mini Pupper, Руководство пользователя, Страница: 91 / 106

Mini Pupper, Release 1.0.0-alpha
SLAM(Simultaneous Localization and Mapping)
Mini Pupper’s ROS version is based on Champ open source project, and we made some changes to SLAM and Navi-
gation functions.
1.Installation
We recommend you explore Mini Pupper with ROS network, make sure your PC and Mini Pupper have connected to
the same WiFi.
1.1 PC Setup
PC Setup corresponds to PC (your desktop or laptop PC) for controlling Mini Pupper remotely. Do not apply these
commands to your Mini Pupper.
• 1.1.1 Cartographer ROS packages installation
Our SLAM and Navigation functions are based on cartographer_ros .
cd ~
sudo apt-get update
sudo apt-get install -y python3-wstool python3-rosdep ninja-build stow
mkdir carto_ws
cd carto_ws
wstool init src
wstool merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_
˓
→
ros/master/cartographer_ros.rosinstall
wstool update -t src
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
src/cartographer/scripts/install_abseil.sh
sudo apt-get remove ros-${ROS_DISTRO}-abseil-cpp
catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash
• 1.1.2 Mini Pupper ROS packages installation
cd < your_ws >/ src
git clone -- recursive https: // github . com / mangdangroboticsclub / minipupper_ros
cd ..
rosdep install -- from - paths src -- ignore - src - r - y
catkin_make
source
< your_ws >/ devel / setup . bash
• 1.1.3 Network Setup
Connect your PC and Mini Pupper to the same WiFi and find the assigned IP address with the command below.
ifconfig
Open the file and update ROS IP settings with commands below.
1.1. What is Mini Pupper? 87