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Mini Pupper, Release 1.0.0-alpha

2.2 Walking

• 2.2.1 Run the base driver

You should run this command on Mini Pupper

roslaunch mini_pupper bringup

.

launch

If Mini Pupper didn’t stand as what you expect, you can edit calibration.yaml in servo_interface/config/calibration to

fix the angles.

• 2.2.2 Control Mini Pupper

There are two options to control Mini Pupper:
1.Use keyboard

It’s recommended to run this command on PC.

roslaunch champ_teleop teleop

.

launch

2.Use the controller

It’s recommended to run this command on Mini Pupper.

Don’t run this command while using move_base because even if you are doing nothing with the joystick, it would
still send cmd_vel with all the values as zero.

roslaunch ps4_interface ps4_interface

.

launch

For the controller usage, please refer to Quick Start Guide.

• 2.2.2 LCD Screen

python3

~/

minipupper_ros_bsp

/

mangdang

/

LCD

/

demo

.

py

We also made a simple ROS interface of the LCD screen, which subscribes sensor_msgs/Image.

rosrun display_interface display_interface

.

py

3. SLAM

3.1 Run the base driver

You should run this command on Mini Pupper

roslaunch mini_pupper bringup

.

launch

90

Chapter 1. ROS2,Open-source,Education Robot Kit

Содержание Mini Pupper

Страница 1: ...Mini Pupper Release 1 0 0 alpha MangDang Technology Co Limited Jan 30 2023...

Страница 2: ......

Страница 3: ...GUIDE 1 ROS2 Open source Education Robot Kit 1 i...

Страница 4: ...ii...

Страница 5: ...Mini Pupper will make robotics easier for schools homeschool families enthusiasts and beyond Mini Pupper 2 is launched on Kickstarter in late 2022 Mini Pupper joined several workshops at AWS 2022 re...

Страница 6: ...upper Makuake Campaign Mini Pupper 2 Kickstarter Campaign Amazon AWS Robotics Blog Amazon 2022 re MARS Workshop Guide Many makers are contributing to Mini Pupper project some parts referred to other c...

Страница 7: ...o LD06 as it is smaller OpenCV Camera module For potential security issues the camera module is not included in our default package If you want to explore camera AI functions you can choose a normal U...

Страница 8: ...ogy educational service or distribution in each country If you are interested in a partnership with us to realize open source robotics please send an email to us sales mangdang net thanks Order parts...

Страница 9: ...er on Mini Pupper After power on if you push on the power button for at least 3 seconds again it will power off 2 Connect the controller to the Pi by putting it pairing mode To put it into pairing mod...

Страница 10: ...ive mode and deactivate mode Note the controller s front light will change colors to indicate if the robot is deactivated or activated R1 Press to transition between Rest mode and Trot mode Left joyst...

Страница 11: ...ck double flashes If it starts making slow single flashes hold the home button down until it stops blinking and try again Battery voltage If you use external power supply to power the robot with anyth...

Страница 12: ...f you have 3D printer and still hope to use the previous 3D printed design that s OK 1 Write the pre built image into microSD Tools In addition to the tools included in the kit the following items are...

Страница 13: ...er Release 1 0 0 alpha Step 1 2 Download the image You can download latest image file via the below folder MiniPupperRelease from MangDang The below picture is the custom carry board 1 1 What is Mini...

Страница 14: ...ge into microSD card Insert the microSD card into your PC s SD card reader and write the image We recommend the image creation tool balenaEtcher or Win32DiskImager as it is easy and reliable Please re...

Страница 15: ...Mini Pupper Release 1 0 0 alpha 2 Position of the screws The pictures show the position of the screws briefly 1 1 What is Mini Pupper 11...

Страница 16: ...Mini Pupper Release 1 0 0 alpha 12 Chapter 1 ROS2 Open source Education Robot Kit...

Страница 17: ...Mini Pupper Release 1 0 0 alpha 1 1 What is Mini Pupper 13...

Страница 18: ...Mini Pupper Release 1 0 0 alpha The up pictures are before April 15 2022 version the below pictures are after April 15 2022 version 14 Chapter 1 ROS2 Open source Education Robot Kit...

Страница 19: ...Mini Pupper Release 1 0 0 alpha 1 1 What is Mini Pupper 15...

Страница 20: ...Mini Pupper Release 1 0 0 alpha The up pictures are before April 15 2022 version the below pictures are after April 15 2022 version 16 Chapter 1 ROS2 Open source Education Robot Kit...

Страница 21: ...Mini Pupper Release 1 0 0 alpha 1 1 What is Mini Pupper 17...

Страница 22: ...Mini Pupper Release 1 0 0 alpha 18 Chapter 1 ROS2 Open source Education Robot Kit...

Страница 23: ...prevents the nut from loosening but it is not essential as it can be tightened only when looseness is noticed Bolt to use M2x5mm 2x4 8 M2x8mm 3x4 12 M2x12mm 1x4 4 M2x14mm 1x4 4 Step 3 1 Single leg As...

Страница 24: ...and tightened by inserting them into the screw holes in Be careful about the sides of The two ballbearings in should be inserted all the way in and the end should be slightly visible as shown in the...

Страница 25: ...2x8mm screw and an M2 locknut Insert the screw from the bottom to the top of pass through and tighten with the nut It is important to pay attention to the orientation of Look carefully at the position...

Страница 26: ...Mini Pupper Release 1 0 0 alpha 22 Chapter 1 ROS2 Open source Education Robot Kit...

Страница 27: ...tment of the length of The length of must match the length of When adjusting the length it is easier to use two long screws to make sure that the lengths match Once the lengths have been adjusted take...

Страница 28: ...ist you can use two screwdrivers to assist Assemble and Use one M2x5mm screw Insert the screws into first insert them into the holes of and tighten them The large hole in should be facing the surface...

Страница 29: ...ts the top and bottom parts with the grooved side facing inwards Insert a screw into a set of ball bearing Then insert the screw into the hole Taking care to look at the warped side of to make sure it...

Страница 30: ...Mini Pupper Release 1 0 0 alpha 26 Chapter 1 ROS2 Open source Education Robot Kit...

Страница 31: ...Mini Pupper Release 1 0 0 alpha 1 1 What is Mini Pupper 27...

Страница 32: ...Mini Pupper Release 1 0 0 alpha Assemble and 28 Chapter 1 ROS2 Open source Education Robot Kit...

Страница 33: ...ase 1 0 0 alpha Use an M2x8mm screw and an M2 nut Insert the screw into and put through then tighten it with the nut The direction of the front and back of can be either Left and right leg 1 1 What is...

Страница 34: ...pper Release 1 0 0 alpha Assemble and Use an M2x8mm screw and an M2 nut Insert the screw into and put through then tighten it with the nut Left and right leg 30 Chapter 1 ROS2 Open source Education Ro...

Страница 35: ...le and Use M2x14mm screws and two sets of ball bearings Thread the screws through the bearings bearings in that order The screws are not fixed but you will tighten them when you mount the servo in the...

Страница 36: ...Completion of a right leg Now we have one leg on the right side Here are some pictures so you can see it from different angles The left leg should be symmetrical with the right one 32 Chapter 1 ROS2...

Страница 37: ...Mini Pupper Release 1 0 0 alpha 1 1 What is Mini Pupper 33...

Страница 38: ...Mini Pupper Release 1 0 0 alpha opposite side 34 Chapter 1 ROS2 Open source Education Robot Kit...

Страница 39: ...Mini Pupper Release 1 0 0 alpha Step 3 2 Four legs 1 1 What is Mini Pupper 35...

Страница 40: ...it will loosen quickly if tightened too tightly They should be secured with Loctite It is possible to dismantle the nut later as it can be loosened by a strong force Some screws are also secured with...

Страница 41: ...bly Step 4 1 Hip Please refer to the below video clip There are two kinds of servo cables No 1 4 7 10 cables length is 9cm other cables length is 15cm For the position of each servos please refer to t...

Страница 42: ...tput shaft is at its middle position by fault as the left picture shows The shaft position may be changed during assembly as the middle picture shows if you find it you can use the servo horn to move...

Страница 43: ...Mini Pupper Release 1 0 0 alpha Put two servos into hip parts Insert two servos into the box and fix them with M2x6mm screws 1 1 What is Mini Pupper 39...

Страница 44: ...background it s easier to attach the leg to the hip during the calibration step If you are the first time to assemble quadruped robot we don t recommand you use the Loctite Attach the leg to the hip u...

Страница 45: ...Mini Pupper Release 1 0 0 alpha Tighten the screws with Loctite Use a toothpick to apply Loctite to the servo s screw holes 1 1 What is Mini Pupper 41...

Страница 46: ...Mini Pupper Release 1 0 0 alpha 42 Chapter 1 ROS2 Open source Education Robot Kit...

Страница 47: ...Mini Pupper Release 1 0 0 alpha Step 4 2 Four Hips Please pay attention to the positions of the servo gear output shaft 1 1 What is Mini Pupper 43...

Страница 48: ...servos are shown as below There are two kinds of servo cables No 1 4 7 10 cables length is 9cm other cables length is 15cm It is useful to put masking tape on the cables and write the number of servo...

Страница 49: ...Mini Pupper Release 1 0 0 alpha 1 1 What is Mini Pupper 45...

Страница 50: ...ini Pupper Release 1 0 0 alpha Step 5 2 Front parts The front part is designed to hold the LCD screen Make sure you don t mistake it for the rear part 46 Chapter 1 ROS2 Open source Education Robot Kit...

Страница 51: ...Mini Pupper Release 1 0 0 alpha Step 5 3 Rear side The same procedure as for the front part 1 1 What is Mini Pupper 47...

Страница 52: ...Mini Pupper Release 1 0 0 alpha 48 Chapter 1 ROS2 Open source Education Robot Kit...

Страница 53: ...the battery please ensure our battery spec at first especially the Voltage should be less than 7 4V you can also refer to other backers work https www facebook com groups 716473723088464 posts 7776162...

Страница 54: ...a Be careful of the carbon fiber front and rear orientation Slide the battery backwards and secure it Pass the cable through the hole in the bottom plate and bring it up to the top 50 Chapter 1 ROS2 O...

Страница 55: ...Mini Pupper Release 1 0 0 alpha Step 5 5 Bottom plate The orientation of the plate must be such that the hole is at the front If the leg is stuck turn the part 1 1 What is Mini Pupper 51...

Страница 56: ...for the display Fold the thin flexible cable at the edge of the display Attach the board and the display to the main unit When attaching the display you can use a stick to gently push the flexible ca...

Страница 57: ...Mini Pupper Release 1 0 0 alpha 1 1 What is Mini Pupper 53...

Страница 58: ...Mini Pupper Release 1 0 0 alpha Be careful with the yellow parts as it has a front and back 54 Chapter 1 ROS2 Open source Education Robot Kit...

Страница 59: ...Mini Pupper Release 1 0 0 alpha 1 1 What is Mini Pupper 55...

Страница 60: ...ase 1 0 0 alpha Step 5 7 Custom circuit board Plug the display cable into the custom circuit board Insert the 12 servo cables In the picture you can see J1 J2 J3 J12 56 Chapter 1 ROS2 Open source Educ...

Страница 61: ...Mini Pupper Release 1 0 0 alpha Use four M2x5mm screws and four short supports 1 1 What is Mini Pupper 57...

Страница 62: ...alpha put on the carbon fiber board plug in the battery cable This connector may interfere with the hips parts so you have to slide it through a hole in the middle of the board 58 Chapter 1 ROS2 Open...

Страница 63: ...Mini Pupper Release 1 0 0 alpha Use eight M2x5mm screws The orientation of the plate must be such that the large opening is at the front 1 1 What is Mini Pupper 59...

Страница 64: ...ini Pupper Release 1 0 0 alpha Pull the custom circuit board closer to the body The board may float but you can use four long posts to hold it in place 60 Chapter 1 ROS2 Open source Education Robot Ki...

Страница 65: ...Mini Pupper Release 1 0 0 alpha Need to pay attention to the cable of the No 1 servo to prevent it from being overwhelmed 1 1 What is Mini Pupper 61...

Страница 66: ...Mini Pupper Release 1 0 0 alpha Step 5 8 Fan To install the fan 62 Chapter 1 ROS2 Open source Education Robot Kit...

Страница 67: ...Mini Pupper Release 1 0 0 alpha Step 5 9 Raspberry Pi 4 1 1 What is Mini Pupper 63...

Страница 68: ...Mini Pupper Release 1 0 0 alpha 6 Cover Assembly Please refer to the below video clip Step 6 1 Side panels 64 Chapter 1 ROS2 Open source Education Robot Kit...

Страница 69: ...Mini Pupper Release 1 0 0 alpha Step 6 2 Shin guards Use four M2x10mm countersunk screws 1 1 What is Mini Pupper 65...

Страница 70: ...Mini Pupper Release 1 0 0 alpha 66 Chapter 1 ROS2 Open source Education Robot Kit...

Страница 71: ...1 0 0 alpha Step 6 3 Shoulders Insert only the screws first and then insert the shoulder parts into the gap Insert the 2 mm hex driver into the hole in the shoulder part and tighten the screws 1 1 Wha...

Страница 72: ...Mini Pupper Release 1 0 0 alpha 68 Chapter 1 ROS2 Open source Education Robot Kit...

Страница 73: ...p 6 4 Top cover Use four M2x10mm screws if the holes are too small to fit the screws as the part is made with a 3D printer you can enlarge the holes by turning them with the supplied 2mm hexagonal scr...

Страница 74: ...Mini Pupper Release 1 0 0 alpha 70 Chapter 1 ROS2 Open source Education Robot Kit...

Страница 75: ...Mini Pupper Release 1 0 0 alpha Step 6 5 Shoes Put on 4 shoes 1 1 What is Mini Pupper 71...

Страница 76: ...Mini Pupper Release 1 0 0 alpha Step 6 6 Completion 72 Chapter 1 ROS2 Open source Education Robot Kit...

Страница 77: ...Mini Pupper Release 1 0 0 alpha 7 Add On Assembly Step 7 1 Lidar If you order the Lidar the Lidar holder will be shipped together 1 1 What is Mini Pupper 73...

Страница 78: ...ra If you order the camera the camera holder is not included in the kit But you can 3d print it from the stl file down below https drive google com drive folders 1lRADDbAt7mSBJE4j8HCji1WbWcpneUED 74 C...

Страница 79: ...Mini Pupper Release 1 0 0 alpha 1 1 What is Mini Pupper 75...

Страница 80: ...Mini Pupper Release 1 0 0 alpha Step 7 3 Completion 76 Chapter 1 ROS2 Open source Education Robot Kit...

Страница 81: ...Mini Pupper Release 1 0 0 alpha 1 1 What is Mini Pupper 77...

Страница 82: ...ro HDMI cable for connection between display and Raspberry Pi Step 1 1 Startup raspberry pi Connect the Raspberry pi to the display with a microHDMI cable Connect a USB keyboard and mouse to the Raspb...

Страница 83: ...Mini Pupper Release 1 0 0 alpha Step 1 2 Log in Press ubuntu button on the screen to log in Default username ubuntu Default password mangdang 1 1 What is Mini Pupper 79...

Страница 84: ...ources On the screen that comes up select the three dots for other and type Japanese to select it Type Japanese to select it Step 1 4 Open ports for ssh Optional Attempt to make an ssh connection from...

Страница 85: ...ng Mini Pupper calibration if the servo horn assembly position is not right it is not easy to calibrate even break the servo Please follow the below easy guide not for ROS image Make sure Mini Pupper...

Страница 86: ...calibration Calibrate each servo by moving the bars or click the space postion near the bars Reset button when you hope to re start from the last time Restore button Restore factory settings and Press...

Страница 87: ...Mini Pupper Release 1 0 0 alpha Then assemble the 4 legs by hand at the right position as the below picture shows 1 1 What is Mini Pupper 83...

Страница 88: ...ee angle The angle of the legs will change in conjunction with the position of the slide bar on the screen However if it does not move then the steps you have followed are incorrect You can use the iP...

Страница 89: ...measure the accurate inclination of the legs so it is better to place the legs on a grid like a piece of graph paper to check that they are in the same position from front to back and from side to si...

Страница 90: ...ngs Press to close the calibration application Step 2 2 Connect controller Please check the next chapter If you can control it with a controller it s OK 1 1 6 SLAM Contents SLAM SLAM Simultaneous Loca...

Страница 91: ...ir 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 ini...

Страница 92: ...o udevadm control reload rules sudo udevadm trigger sudo reboot Then go into pairing mode with the controller Home button share button for 3 sec Run ds4drv from command line until the controller is co...

Страница 93: ...ASTER_URI http 192 168 1 106 11311 export ROS_HOSTNAME 192 168 1 107 2 Quick Start 2 1 Calibration Through this script you can calibrate the angle of every servo in one turn Just input the angles br T...

Страница 94: ...s recommended to run this command on Mini Pupper Don t run this command while using move_base because even if you are doing nothing with the joystick it would still send cmd_vel with all the values a...

Страница 95: ...ember to edit map yaml br The first line should be image map pgm Then copy map pbstream map pgm and map yaml files you just saved to your_ws src minipupper_ros mini_pupper maps 1 1 7 Navigation Conten...

Страница 96: ...he launch file roslaunch mini_pupper navigate launch 1 1 8 Simulation Contents Simulation Instructions for Creating an AWS RoboMaker Environment for Mini Pupper please refer to https github com mangda...

Страница 97: ...1 0 0 alpha Instructions for Amazon 2022 re MARS RoboMaker MiniPupper Workshop please refer to https catalog us east 1 prod workshops aws workshops 511d7599 73bd 4142 bd6b fa83dbe3d8ce en US 1 1 What...

Страница 98: ...tions you can choose a normal USB camera module of course a 3D camera module is better for study If try the 3D camera module we recommend you OpenCV s latest 3D camera module named OAK D LITE comes fr...

Страница 99: ...Terminal 2 roslaunch depthai_examples mobile_publisher launch Terminal 3 rosrun mini_pupper_detect oak_detect py 2 2 Live streaming Will update late 1 1 10 Examples Contents Examples 1 Custom shell pa...

Страница 100: ...erequisites HDMI Display micro HDMI cable Keyboard and mouse a new picture 2 2 Run Connect MiniPupper to the display by mirco HDMI cable A wireless adapter for the keyboard and mouse B mirco HDMI cabl...

Страница 101: ...r based on nonROS version The feature is based on PupperKeyboardController project it s Pygame based keyboard controller for Stanford Pupper Install PyGame pip install pygame Controls wasd left joysti...

Страница 102: ...file for Mini Pupper ROS package comes from docker mini pupper ros project 6 2 Docker for Host Host computer setup for interfacing with a Mini Pupper over a network comes from mp_host_setup project 7...

Страница 103: ...ill of Materials STL Link STL for 3D print 1 1 12 PCB Contents PCB PCB Design PCB Design For Mini Pupper custom board design please refer to the below pictures You can also find the detailed Schematic...

Страница 104: ...Mini Pupper Release 1 0 0 alpha Top side 100 Chapter 1 ROS2 Open source Education Robot Kit...

Страница 105: ...me for development The battery power can only run Pupper dozens of minutes it is not convenient for long time development A1 Please confirm the below solutions for makers Use Raspberry Pi default adap...

Страница 106: ...dors can ship to 135 countries regions but not including India Montenegro Armenia Nigeria Colombia South Africa North Korea Sudan Syria Hawaii Palma ola and County Antrim Q6 Shipping Info Requirement...

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