adham-elarabawy / open-quadruped Goto Github PK

In order to switch to using a ROS infrastructure, there needs to be significant work done on refactoring much of the codebase. It is as follows:

• Jetson Nano Networking setup
  • autoconnect to laptop's network
  • document connection procedure
• Install ROS melodic on Jetson Nano
• Verify ROS functionality
  • sub & pub to topics using nodes on jetson nano
  • serial comm between jetson nano / teensy
  • sub & pub to topics using nodes on jetson nano / teensy
  • sub & pub to topics using nodes on teensy
    • Not possible. Teensy can only act as 1 node.
• Based on the results of above task, determine proper node layout
  • create diagram (https://github.com/adham-elarabawy/OpenQuadruped/wiki/ROS-Node-Infrastructure)
• Refactor codebase
  • Import ros libs in teensy lib dir
  • Implement base ROS init + callback in teensy
  • Test ros joy lib with ds4drv ps4 driver
  • Create custom message for 4 leg poses
  • Header files for custom message on teensy
  • Experiment with ROS ps4 controller packages
  • Minor refactoring for main jetson nano control process. Node-ify it.
  • Modify LLC c++ code to remove Leg IK from teensy (LLC should accept joint angles, not leg htf vectors).

I wondered if you could add a function like this to the servo control code. It is to detach the servos and thus make them loose power. This is handy for shutting the robot down in an emergency for example. i am not familiar enough with your code yet so i can not implement it myself.

Here is the piece of code from the normal arduino Servo.cpp:

void Servo::detach() { servos[this->servoIndex].Pin.isActive = false; timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex); if(isTimerActive(timer) == false) { finISR(timer); } }

Hey, Adham, working on your package, and need to know what alignement servos need to be at teensy boot !!
Could you quickly tell me their position :

• Hips right, and parallel to ground ?
• shoulders // to others shoulders, and perpendicular to ground ?
• wrist // to others wrists, and perpendicular to ground ?
  Thanks in avance, Adham
  Vincent

This project could definitely benefit from better made documentation and a website. The wiki is also sparse in terms of setup.

Do you have any documents or guides on assembly. I'm not sure exactly how you did the belt tension. Also the alignment of the servos would also be helpful. If not guides them possibly some pictures.

Thank You.

Hi Adham
great project, just wondering if you have the parts list still available as it appears to have been deleted?

Cheers
Alex

the problem I m facing is installing the

ROS Melodic

• Well for me, it is a bit difficult to find and install this particular dependency in Ubuntu OS.

• please add the code line to install dependencies.

• It is a request that please add an installation guide as well weather in read.me or wiki section.

Additional context

It would be a great help for people like me, who are still beginners or new to Open Source.

After using the IK model I created & documented, I have noticed some flaws with my implementation. I'd like to try out a couple of new things:

• Error catching
  • Out of bounds
  • Ability to set custom limits on arm angles based on hardware restrictions
• Use right hand rule model consistently
• Update documentation

execute command roslaunch open_quadruped sim.launch
then how to control the quadruped robot

I see in both the leg folders, there is a idler mount stl. I also see in the CAD model that there is an idler. Yet, I don't see where the actual idler's stl file. Would you please mind uploading this? I assembled the rest, but tensioning the belt would definitely make the legs move better. Thank you

Hi, I'm from the spot_mini_mini repository.
I saw the video on Youtube, and I think it's a great robot, so I'd love to make one myself!

Viewed on https://cad.onshape.com/documents/9d0f96878c54300abf1157ac/w/c9cdf8daa98d8a0d7d50c8d3/e/fa0d7caf0ed2ef46834ecc24, Did you make the pulleys with a 3D printer?
Or do you use a commercial product?

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