S4H2021-QuadrUS

Quadruped Robot | UdeS-GRO

Original contributors

From left to right : Anthony Breton; Jonathan Oreste Maruca; Diego-Alonso Leblanc-Romero; Charles Vuong; Mathias Bourgault; Olivier Fournier

Final Product

Table of contents

• Development environment
  • Needed installation
  • To set up this ROS project
• Using this repository
  • Creating and launching the GUI
  • Launching 2D and 3D simulations without GUI
• Robot environment

Development environment

System requirements

• Ubuntu 20.04 LTS

Dependencies

• ROS Noetic
• Gazebo
• Pybullet
• Gym
• Scipy
• Numpy
• ROS Joy
• ROS Control

ROS installation (Development environment)

• ROS Noetic Ninjemys: Installation documentation
• Gazebo/Rviz : Choose Desktop-Full Install option when installing ROS

Dependencies installation (packages and second environment)

• Install Terminator

  sudo apt-get update

  sudo apt-get install terminator

• Install all dependencies for Kinematics

  sudo apt install python3-pip

  sudo apt install python-is-python3

  sudo apt install ros-noetic-joy

  sudo apt install ros-noetic-rosserial

  sudo apt install ros-noetic-rosserial-python

  sudo apt install ros-noetic-rosserial-arduino

  pip3 install pybullet

  pip3 install gym

• Install all dependencies for control

  sudo apt install ros-noetic-ros-control

  sudo apt install ros-noetic-robot-state-publisher

  sudo apt install ros-noetic-control-msgs

To set up this ROS project

• Create and initialize a catkin workspace

  mkdir -p ~/quadrus_ws/src

  cd ~/quadrus_ws/src

  catkin_init_workspace

• Clone the git repository into the src folder

  git clone --recurse-submodules https://github.com/olivierfournier2/S4H2021-QuadrUS.git

• Build the ROS workspace

  cd ~/quadrus_ws

  catkin_make

  . ~/quadrus_ws/devel/setup.bash

At this point, the ROS environment should be set up and ready to work with.

Using this repository

Creating and launching the GUI

• Start by launching a terminal

• Access the GUI sub-folder:

  cd ~/quadrus_ws/src/S4H2021-QuadrUS/PyQt5

• Create the executable :

  chmod +x quadrus.py

• In this folder launch the GUI with:

  ./quadrus.py

Launching 2D and 3D simulations without GUI

• Start by launching terminator and splitting into two terminals (T1 and T2)

• Launch roscore, the main ros node in T1:

  roscore 

• To view the robot model in Rviz, execute the following command in T2:

  roslaunch qd_master qd_master.launch mode:=sim sim_mode:=kin

• To start the dynamic simulation in Gazebo, execute the following command in T2:

  roslaunch qd_master qd_master.launch mode:=sim sim_mode:=dyn

Robot environment

System Requirements

• RaspberryPi 4
• Ubuntu 20.04.2 LTS, 64 bit

ROS installation

• ROS Noetic Ninjemys: Installation documentation

Network setup

• Set up raspberry pi as access point: Procedure
• To allow ssh over wired connection, you need to set up static ip adress for both devices: Procedure