mini_pupper_hardware

Package Summary

Version	0.1.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/mangdangroboticsclub/mini_pupper_ros.git
VCS Type	git
VCS Version	ros2-dev
Last Updated	2026-05-30
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 hardware interface for Mini Pupper robot integrated with ros2_control

Maintainers

MangDang

Authors

cullensun

mini_pupper_hardware

ROS 2 ros2_control hardware interface plugin for the Mini Pupper 2 quadruped robot.

For a full description of the ros2_control architecture and data flow, see docs/ros2-control-architecture.md.

Socket protocol (BB12B12H)

38-byte packet sent to /tmp/esp32-proxy.socket (SOCK_SEQPACKET):

Bytes	Format	Content
0	`B`	Packet size = 38
1	`B`	Command = 1 (SETPOS)
2–13	`12B`	Torque enable per servo (uint8, 1 = enabled)
14–37	`12H`	Servo positions, uint16 little-endian (0–1023, neutral = 512)

Servo layout

Index	Joint	Leg
0–2	abd, hip, knee_abs	RF (right front)
3–5	abd, hip, knee_abs	LF (left front)
6–8	abd, hip, knee_abs	RB (right back)
9–11	abd, hip, knee_abs	LB (left back)

knee_abs = hip_angle + knee_angle (absolute, not relative to hip).

Angle → servo conversion

servo = 512 − MICROS_PER_RAD × (angle − neutral_angle) × multiplier

MICROS_PER_RAD = (760 − 210) / π  ≈ 175.07

Neutral angles and per-axis/per-leg multipliers are defined in include/mini_pupper_hardware/mini_pupper_hardware.hpp.

Building

cd ~/ros2_ws
colcon build --packages-select mini_pupper_hardware
source install/setup.bash

Running

ros2 launch mini_pupper_bringup bringup.launch.py

Set hardware_interface_type: mock in the URDF <ros2_control> block to run without a physical robot.

Hardware diagnostic tests

The test/ directory contains standalone diagnostic scripts that run directly on the robot without ROS 2. See test/README.md.

Troubleshooting

Symptom	Check
Plugin not found	`colcon build`, then `source install/setup.bash`
Servos not moving	Is `esp32-proxy` running? Does `/tmp/esp32-proxy.socket` exist?
Wrong standing pose	Check `default_positions` in `mini_pupper_2_controllers.yaml` — knee values must be `knee_abs` (absolute angle from IK ≈ −0.774 at `default_z_ref=-0.07`), not the raw inter-link angle
Front/rear leg mismatch	Check `SERVO_MULTIPLIERS` abduction row in `mini_pupper_hardware.hpp`

License

Apache License 2.0

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	hardware_interface
	pluginlib
	rclcpp
	rclcpp_lifecycle
	controller_manager

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

hardware_interface

Recent questions tagged `mini_pupper_hardware` at Robotics Stack Exchange

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.

mini_pupper_hardware package from mini_pupper_ros repo

mini_pupper_bringup mini_pupper_controllers mini_pupper_dance mini_pupper_description mini_pupper_driver mini_pupper_fleet mini_pupper_hardware mini_pupper_interfaces mini_pupper_music mini_pupper_navigation mini_pupper_recognition mini_pupper_simulation mini_pupper_slam mini_pupper_tracking stanford_controller

ROS Distro
github

Package Summary

Version	0.1.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/mangdangroboticsclub/mini_pupper_ros.git
VCS Type	git
VCS Version	ros2-dev
Last Updated	2026-05-30
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 hardware interface for Mini Pupper robot integrated with ros2_control

Maintainers

MangDang

Authors

cullensun

mini_pupper_hardware

ROS 2 ros2_control hardware interface plugin for the Mini Pupper 2 quadruped robot.

For a full description of the ros2_control architecture and data flow, see docs/ros2-control-architecture.md.

Socket protocol (BB12B12H)

38-byte packet sent to /tmp/esp32-proxy.socket (SOCK_SEQPACKET):

Bytes	Format	Content
0	`B`	Packet size = 38
1	`B`	Command = 1 (SETPOS)
2–13	`12B`	Torque enable per servo (uint8, 1 = enabled)
14–37	`12H`	Servo positions, uint16 little-endian (0–1023, neutral = 512)

Servo layout

Index	Joint	Leg
0–2	abd, hip, knee_abs	RF (right front)
3–5	abd, hip, knee_abs	LF (left front)
6–8	abd, hip, knee_abs	RB (right back)
9–11	abd, hip, knee_abs	LB (left back)

knee_abs = hip_angle + knee_angle (absolute, not relative to hip).

Angle → servo conversion

servo = 512 − MICROS_PER_RAD × (angle − neutral_angle) × multiplier

MICROS_PER_RAD = (760 − 210) / π  ≈ 175.07

Neutral angles and per-axis/per-leg multipliers are defined in include/mini_pupper_hardware/mini_pupper_hardware.hpp.

Building

cd ~/ros2_ws
colcon build --packages-select mini_pupper_hardware
source install/setup.bash

Running

ros2 launch mini_pupper_bringup bringup.launch.py

Set hardware_interface_type: mock in the URDF <ros2_control> block to run without a physical robot.

Hardware diagnostic tests

The test/ directory contains standalone diagnostic scripts that run directly on the robot without ROS 2. See test/README.md.

Troubleshooting

Symptom	Check
Plugin not found	`colcon build`, then `source install/setup.bash`
Servos not moving	Is `esp32-proxy` running? Does `/tmp/esp32-proxy.socket` exist?
Wrong standing pose	Check `default_positions` in `mini_pupper_2_controllers.yaml` — knee values must be `knee_abs` (absolute angle from IK ≈ −0.774 at `default_z_ref=-0.07`), not the raw inter-link angle
Front/rear leg mismatch	Check `SERVO_MULTIPLIERS` abduction row in `mini_pupper_hardware.hpp`

License

Apache License 2.0

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	hardware_interface
	pluginlib
	rclcpp
	rclcpp_lifecycle
	controller_manager

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

hardware_interface

Recent questions tagged `mini_pupper_hardware` at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.

mini_pupper_hardware package from mini_pupper_ros repo

mini_pupper_bringup mini_pupper_controllers mini_pupper_dance mini_pupper_description mini_pupper_driver mini_pupper_fleet mini_pupper_hardware mini_pupper_interfaces mini_pupper_music mini_pupper_navigation mini_pupper_recognition mini_pupper_simulation mini_pupper_slam mini_pupper_tracking stanford_controller

ROS Distro
github

Package Summary

Version	0.1.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/mangdangroboticsclub/mini_pupper_ros.git
VCS Type	git
VCS Version	ros2-dev
Last Updated	2026-05-30
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 hardware interface for Mini Pupper robot integrated with ros2_control

Maintainers

MangDang

Authors

cullensun

mini_pupper_hardware

ROS 2 ros2_control hardware interface plugin for the Mini Pupper 2 quadruped robot.

For a full description of the ros2_control architecture and data flow, see docs/ros2-control-architecture.md.

Socket protocol (BB12B12H)

38-byte packet sent to /tmp/esp32-proxy.socket (SOCK_SEQPACKET):

Bytes	Format	Content
0	`B`	Packet size = 38
1	`B`	Command = 1 (SETPOS)
2–13	`12B`	Torque enable per servo (uint8, 1 = enabled)
14–37	`12H`	Servo positions, uint16 little-endian (0–1023, neutral = 512)

Servo layout

Index	Joint	Leg
0–2	abd, hip, knee_abs	RF (right front)
3–5	abd, hip, knee_abs	LF (left front)
6–8	abd, hip, knee_abs	RB (right back)
9–11	abd, hip, knee_abs	LB (left back)

knee_abs = hip_angle + knee_angle (absolute, not relative to hip).

Angle → servo conversion

servo = 512 − MICROS_PER_RAD × (angle − neutral_angle) × multiplier

MICROS_PER_RAD = (760 − 210) / π  ≈ 175.07

Neutral angles and per-axis/per-leg multipliers are defined in include/mini_pupper_hardware/mini_pupper_hardware.hpp.

Building

cd ~/ros2_ws
colcon build --packages-select mini_pupper_hardware
source install/setup.bash

Running

ros2 launch mini_pupper_bringup bringup.launch.py

Set hardware_interface_type: mock in the URDF <ros2_control> block to run without a physical robot.

Hardware diagnostic tests

The test/ directory contains standalone diagnostic scripts that run directly on the robot without ROS 2. See test/README.md.

Troubleshooting

Symptom	Check
Plugin not found	`colcon build`, then `source install/setup.bash`
Servos not moving	Is `esp32-proxy` running? Does `/tmp/esp32-proxy.socket` exist?
Wrong standing pose	Check `default_positions` in `mini_pupper_2_controllers.yaml` — knee values must be `knee_abs` (absolute angle from IK ≈ −0.774 at `default_z_ref=-0.07`), not the raw inter-link angle
Front/rear leg mismatch	Check `SERVO_MULTIPLIERS` abduction row in `mini_pupper_hardware.hpp`

License

Apache License 2.0

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	hardware_interface
	pluginlib
	rclcpp
	rclcpp_lifecycle
	controller_manager

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

hardware_interface

Recent questions tagged `mini_pupper_hardware` at Robotics Stack Exchange

No version for distro lyrical showing github. Known supported distros are highlighted in the buttons above.

mini_pupper_hardware package from mini_pupper_ros repo

mini_pupper_bringup mini_pupper_controllers mini_pupper_dance mini_pupper_description mini_pupper_driver mini_pupper_fleet mini_pupper_hardware mini_pupper_interfaces mini_pupper_music mini_pupper_navigation mini_pupper_recognition mini_pupper_simulation mini_pupper_slam mini_pupper_tracking stanford_controller

ROS Distro
github

Package Summary

Version	0.1.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/mangdangroboticsclub/mini_pupper_ros.git
VCS Type	git
VCS Version	ros2-dev
Last Updated	2026-05-30
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 hardware interface for Mini Pupper robot integrated with ros2_control

Maintainers

MangDang

Authors

cullensun

mini_pupper_hardware

ROS 2 ros2_control hardware interface plugin for the Mini Pupper 2 quadruped robot.

For a full description of the ros2_control architecture and data flow, see docs/ros2-control-architecture.md.

Socket protocol (BB12B12H)

38-byte packet sent to /tmp/esp32-proxy.socket (SOCK_SEQPACKET):

Bytes	Format	Content
0	`B`	Packet size = 38
1	`B`	Command = 1 (SETPOS)
2–13	`12B`	Torque enable per servo (uint8, 1 = enabled)
14–37	`12H`	Servo positions, uint16 little-endian (0–1023, neutral = 512)

Servo layout

Index	Joint	Leg
0–2	abd, hip, knee_abs	RF (right front)
3–5	abd, hip, knee_abs	LF (left front)
6–8	abd, hip, knee_abs	RB (right back)
9–11	abd, hip, knee_abs	LB (left back)

knee_abs = hip_angle + knee_angle (absolute, not relative to hip).

Angle → servo conversion

servo = 512 − MICROS_PER_RAD × (angle − neutral_angle) × multiplier

MICROS_PER_RAD = (760 − 210) / π  ≈ 175.07

Neutral angles and per-axis/per-leg multipliers are defined in include/mini_pupper_hardware/mini_pupper_hardware.hpp.

Building

cd ~/ros2_ws
colcon build --packages-select mini_pupper_hardware
source install/setup.bash

Running

ros2 launch mini_pupper_bringup bringup.launch.py

Set hardware_interface_type: mock in the URDF <ros2_control> block to run without a physical robot.

Hardware diagnostic tests

The test/ directory contains standalone diagnostic scripts that run directly on the robot without ROS 2. See test/README.md.

Troubleshooting

Symptom	Check
Plugin not found	`colcon build`, then `source install/setup.bash`
Servos not moving	Is `esp32-proxy` running? Does `/tmp/esp32-proxy.socket` exist?
Wrong standing pose	Check `default_positions` in `mini_pupper_2_controllers.yaml` — knee values must be `knee_abs` (absolute angle from IK ≈ −0.774 at `default_z_ref=-0.07`), not the raw inter-link angle
Front/rear leg mismatch	Check `SERVO_MULTIPLIERS` abduction row in `mini_pupper_hardware.hpp`

License

Apache License 2.0

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	hardware_interface
	pluginlib
	rclcpp
	rclcpp_lifecycle
	controller_manager

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

hardware_interface

Recent questions tagged `mini_pupper_hardware` at Robotics Stack Exchange

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.

mini_pupper_hardware package from mini_pupper_ros repo

mini_pupper_bringup mini_pupper_controllers mini_pupper_dance mini_pupper_description mini_pupper_driver mini_pupper_fleet mini_pupper_hardware mini_pupper_interfaces mini_pupper_music mini_pupper_navigation mini_pupper_recognition mini_pupper_simulation mini_pupper_slam mini_pupper_tracking stanford_controller

ROS Distro
github

Package Summary

Version	0.1.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/mangdangroboticsclub/mini_pupper_ros.git
VCS Type	git
VCS Version	ros2-dev
Last Updated	2026-05-30
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 hardware interface for Mini Pupper robot integrated with ros2_control

Maintainers

MangDang

Authors

cullensun

mini_pupper_hardware

ROS 2 ros2_control hardware interface plugin for the Mini Pupper 2 quadruped robot.

For a full description of the ros2_control architecture and data flow, see docs/ros2-control-architecture.md.

Socket protocol (BB12B12H)

38-byte packet sent to /tmp/esp32-proxy.socket (SOCK_SEQPACKET):

Bytes	Format	Content
0	`B`	Packet size = 38
1	`B`	Command = 1 (SETPOS)
2–13	`12B`	Torque enable per servo (uint8, 1 = enabled)
14–37	`12H`	Servo positions, uint16 little-endian (0–1023, neutral = 512)

Servo layout

Index	Joint	Leg
0–2	abd, hip, knee_abs	RF (right front)
3–5	abd, hip, knee_abs	LF (left front)
6–8	abd, hip, knee_abs	RB (right back)
9–11	abd, hip, knee_abs	LB (left back)

knee_abs = hip_angle + knee_angle (absolute, not relative to hip).

Angle → servo conversion

servo = 512 − MICROS_PER_RAD × (angle − neutral_angle) × multiplier

MICROS_PER_RAD = (760 − 210) / π  ≈ 175.07

Neutral angles and per-axis/per-leg multipliers are defined in include/mini_pupper_hardware/mini_pupper_hardware.hpp.

Building

cd ~/ros2_ws
colcon build --packages-select mini_pupper_hardware
source install/setup.bash

Running

ros2 launch mini_pupper_bringup bringup.launch.py

Set hardware_interface_type: mock in the URDF <ros2_control> block to run without a physical robot.

Hardware diagnostic tests

The test/ directory contains standalone diagnostic scripts that run directly on the robot without ROS 2. See test/README.md.

Troubleshooting

Symptom	Check
Plugin not found	`colcon build`, then `source install/setup.bash`
Servos not moving	Is `esp32-proxy` running? Does `/tmp/esp32-proxy.socket` exist?
Wrong standing pose	Check `default_positions` in `mini_pupper_2_controllers.yaml` — knee values must be `knee_abs` (absolute angle from IK ≈ −0.774 at `default_z_ref=-0.07`), not the raw inter-link angle
Front/rear leg mismatch	Check `SERVO_MULTIPLIERS` abduction row in `mini_pupper_hardware.hpp`

License

Apache License 2.0

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	hardware_interface
	pluginlib
	rclcpp
	rclcpp_lifecycle
	controller_manager

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

hardware_interface

Recent questions tagged `mini_pupper_hardware` at Robotics Stack Exchange

mini_pupper_hardware package from mini_pupper_ros repo

mini_pupper_bringup mini_pupper_controllers mini_pupper_dance mini_pupper_description mini_pupper_driver mini_pupper_fleet mini_pupper_hardware mini_pupper_interfaces mini_pupper_music mini_pupper_navigation mini_pupper_recognition mini_pupper_simulation mini_pupper_slam mini_pupper_tracking stanford_controller

ROS Distro
github

Package Summary

Version	0.1.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/mangdangroboticsclub/mini_pupper_ros.git
VCS Type	git
VCS Version	ros2-dev
Last Updated	2026-05-30
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 hardware interface for Mini Pupper robot integrated with ros2_control

Maintainers

MangDang

Authors

cullensun

mini_pupper_hardware

ROS 2 ros2_control hardware interface plugin for the Mini Pupper 2 quadruped robot.

For a full description of the ros2_control architecture and data flow, see docs/ros2-control-architecture.md.

Socket protocol (BB12B12H)

38-byte packet sent to /tmp/esp32-proxy.socket (SOCK_SEQPACKET):

Bytes	Format	Content
0	`B`	Packet size = 38
1	`B`	Command = 1 (SETPOS)
2–13	`12B`	Torque enable per servo (uint8, 1 = enabled)
14–37	`12H`	Servo positions, uint16 little-endian (0–1023, neutral = 512)

Servo layout

Index	Joint	Leg
0–2	abd, hip, knee_abs	RF (right front)
3–5	abd, hip, knee_abs	LF (left front)
6–8	abd, hip, knee_abs	RB (right back)
9–11	abd, hip, knee_abs	LB (left back)

knee_abs = hip_angle + knee_angle (absolute, not relative to hip).

Angle → servo conversion

servo = 512 − MICROS_PER_RAD × (angle − neutral_angle) × multiplier

MICROS_PER_RAD = (760 − 210) / π  ≈ 175.07

Neutral angles and per-axis/per-leg multipliers are defined in include/mini_pupper_hardware/mini_pupper_hardware.hpp.

Building

cd ~/ros2_ws
colcon build --packages-select mini_pupper_hardware
source install/setup.bash

Running

ros2 launch mini_pupper_bringup bringup.launch.py

Set hardware_interface_type: mock in the URDF <ros2_control> block to run without a physical robot.

Hardware diagnostic tests

The test/ directory contains standalone diagnostic scripts that run directly on the robot without ROS 2. See test/README.md.

Troubleshooting

Symptom	Check
Plugin not found	`colcon build`, then `source install/setup.bash`
Servos not moving	Is `esp32-proxy` running? Does `/tmp/esp32-proxy.socket` exist?
Wrong standing pose	Check `default_positions` in `mini_pupper_2_controllers.yaml` — knee values must be `knee_abs` (absolute angle from IK ≈ −0.774 at `default_z_ref=-0.07`), not the raw inter-link angle
Front/rear leg mismatch	Check `SERVO_MULTIPLIERS` abduction row in `mini_pupper_hardware.hpp`

License

Apache License 2.0

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	hardware_interface
	pluginlib
	rclcpp
	rclcpp_lifecycle
	controller_manager

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

hardware_interface

Recent questions tagged `mini_pupper_hardware` at Robotics Stack Exchange

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.

mini_pupper_hardware package from mini_pupper_ros repo

mini_pupper_bringup mini_pupper_controllers mini_pupper_dance mini_pupper_description mini_pupper_driver mini_pupper_fleet mini_pupper_hardware mini_pupper_interfaces mini_pupper_music mini_pupper_navigation mini_pupper_recognition mini_pupper_simulation mini_pupper_slam mini_pupper_tracking stanford_controller

ROS Distro
github

Package Summary

Version	0.1.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/mangdangroboticsclub/mini_pupper_ros.git
VCS Type	git
VCS Version	ros2-dev
Last Updated	2026-05-30
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 hardware interface for Mini Pupper robot integrated with ros2_control

Maintainers

MangDang

Authors

cullensun

mini_pupper_hardware

ROS 2 ros2_control hardware interface plugin for the Mini Pupper 2 quadruped robot.

For a full description of the ros2_control architecture and data flow, see docs/ros2-control-architecture.md.

Socket protocol (BB12B12H)

38-byte packet sent to /tmp/esp32-proxy.socket (SOCK_SEQPACKET):

Bytes	Format	Content
0	`B`	Packet size = 38
1	`B`	Command = 1 (SETPOS)
2–13	`12B`	Torque enable per servo (uint8, 1 = enabled)
14–37	`12H`	Servo positions, uint16 little-endian (0–1023, neutral = 512)

Servo layout

Index	Joint	Leg
0–2	abd, hip, knee_abs	RF (right front)
3–5	abd, hip, knee_abs	LF (left front)
6–8	abd, hip, knee_abs	RB (right back)
9–11	abd, hip, knee_abs	LB (left back)

knee_abs = hip_angle + knee_angle (absolute, not relative to hip).

Angle → servo conversion

servo = 512 − MICROS_PER_RAD × (angle − neutral_angle) × multiplier

MICROS_PER_RAD = (760 − 210) / π  ≈ 175.07

Neutral angles and per-axis/per-leg multipliers are defined in include/mini_pupper_hardware/mini_pupper_hardware.hpp.

Building

cd ~/ros2_ws
colcon build --packages-select mini_pupper_hardware
source install/setup.bash

Running

ros2 launch mini_pupper_bringup bringup.launch.py

Set hardware_interface_type: mock in the URDF <ros2_control> block to run without a physical robot.

Hardware diagnostic tests

The test/ directory contains standalone diagnostic scripts that run directly on the robot without ROS 2. See test/README.md.

Troubleshooting

Symptom	Check
Plugin not found	`colcon build`, then `source install/setup.bash`
Servos not moving	Is `esp32-proxy` running? Does `/tmp/esp32-proxy.socket` exist?
Wrong standing pose	Check `default_positions` in `mini_pupper_2_controllers.yaml` — knee values must be `knee_abs` (absolute angle from IK ≈ −0.774 at `default_z_ref=-0.07`), not the raw inter-link angle
Front/rear leg mismatch	Check `SERVO_MULTIPLIERS` abduction row in `mini_pupper_hardware.hpp`

License

Apache License 2.0

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	hardware_interface
	pluginlib
	rclcpp
	rclcpp_lifecycle
	controller_manager

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

hardware_interface

Recent questions tagged `mini_pupper_hardware` at Robotics Stack Exchange

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.

mini_pupper_hardware package from mini_pupper_ros repo

mini_pupper_bringup mini_pupper_controllers mini_pupper_dance mini_pupper_description mini_pupper_driver mini_pupper_fleet mini_pupper_hardware mini_pupper_interfaces mini_pupper_music mini_pupper_navigation mini_pupper_recognition mini_pupper_simulation mini_pupper_slam mini_pupper_tracking stanford_controller

ROS Distro
github

Package Summary

Version	0.1.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/mangdangroboticsclub/mini_pupper_ros.git
VCS Type	git
VCS Version	ros2-dev
Last Updated	2026-05-30
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 hardware interface for Mini Pupper robot integrated with ros2_control

Maintainers

MangDang

Authors

cullensun

mini_pupper_hardware

ROS 2 ros2_control hardware interface plugin for the Mini Pupper 2 quadruped robot.

For a full description of the ros2_control architecture and data flow, see docs/ros2-control-architecture.md.

Socket protocol (BB12B12H)

38-byte packet sent to /tmp/esp32-proxy.socket (SOCK_SEQPACKET):

Bytes	Format	Content
0	`B`	Packet size = 38
1	`B`	Command = 1 (SETPOS)
2–13	`12B`	Torque enable per servo (uint8, 1 = enabled)
14–37	`12H`	Servo positions, uint16 little-endian (0–1023, neutral = 512)

Servo layout

Index	Joint	Leg
0–2	abd, hip, knee_abs	RF (right front)
3–5	abd, hip, knee_abs	LF (left front)
6–8	abd, hip, knee_abs	RB (right back)
9–11	abd, hip, knee_abs	LB (left back)

knee_abs = hip_angle + knee_angle (absolute, not relative to hip).

Angle → servo conversion

servo = 512 − MICROS_PER_RAD × (angle − neutral_angle) × multiplier

MICROS_PER_RAD = (760 − 210) / π  ≈ 175.07

Neutral angles and per-axis/per-leg multipliers are defined in include/mini_pupper_hardware/mini_pupper_hardware.hpp.

Building

cd ~/ros2_ws
colcon build --packages-select mini_pupper_hardware
source install/setup.bash

Running

ros2 launch mini_pupper_bringup bringup.launch.py

Set hardware_interface_type: mock in the URDF <ros2_control> block to run without a physical robot.

Hardware diagnostic tests

The test/ directory contains standalone diagnostic scripts that run directly on the robot without ROS 2. See test/README.md.

Troubleshooting

Symptom	Check
Plugin not found	`colcon build`, then `source install/setup.bash`
Servos not moving	Is `esp32-proxy` running? Does `/tmp/esp32-proxy.socket` exist?
Wrong standing pose	Check `default_positions` in `mini_pupper_2_controllers.yaml` — knee values must be `knee_abs` (absolute angle from IK ≈ −0.774 at `default_z_ref=-0.07`), not the raw inter-link angle
Front/rear leg mismatch	Check `SERVO_MULTIPLIERS` abduction row in `mini_pupper_hardware.hpp`

License

Apache License 2.0

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	hardware_interface
	pluginlib
	rclcpp
	rclcpp_lifecycle
	controller_manager

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

hardware_interface

Recent questions tagged `mini_pupper_hardware` at Robotics Stack Exchange

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.

mini_pupper_hardware package from mini_pupper_ros repo

mini_pupper_bringup mini_pupper_controllers mini_pupper_dance mini_pupper_description mini_pupper_driver mini_pupper_fleet mini_pupper_hardware mini_pupper_interfaces mini_pupper_music mini_pupper_navigation mini_pupper_recognition mini_pupper_simulation mini_pupper_slam mini_pupper_tracking stanford_controller

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version	0.1.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/mangdangroboticsclub/mini_pupper_ros.git
VCS Type	git
VCS Version	ros2-dev
Last Updated	2026-05-30
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 hardware interface for Mini Pupper robot integrated with ros2_control

Maintainers

MangDang

Authors

cullensun

mini_pupper_hardware

ROS 2 ros2_control hardware interface plugin for the Mini Pupper 2 quadruped robot.

For a full description of the ros2_control architecture and data flow, see docs/ros2-control-architecture.md.

Socket protocol (BB12B12H)

38-byte packet sent to /tmp/esp32-proxy.socket (SOCK_SEQPACKET):

Bytes	Format	Content
0	`B`	Packet size = 38
1	`B`	Command = 1 (SETPOS)
2–13	`12B`	Torque enable per servo (uint8, 1 = enabled)
14–37	`12H`	Servo positions, uint16 little-endian (0–1023, neutral = 512)

Servo layout

Index	Joint	Leg
0–2	abd, hip, knee_abs	RF (right front)
3–5	abd, hip, knee_abs	LF (left front)
6–8	abd, hip, knee_abs	RB (right back)
9–11	abd, hip, knee_abs	LB (left back)

knee_abs = hip_angle + knee_angle (absolute, not relative to hip).

Angle → servo conversion

servo = 512 − MICROS_PER_RAD × (angle − neutral_angle) × multiplier

MICROS_PER_RAD = (760 − 210) / π  ≈ 175.07

Neutral angles and per-axis/per-leg multipliers are defined in include/mini_pupper_hardware/mini_pupper_hardware.hpp.

Building

cd ~/ros2_ws
colcon build --packages-select mini_pupper_hardware
source install/setup.bash

Running

ros2 launch mini_pupper_bringup bringup.launch.py

Set hardware_interface_type: mock in the URDF <ros2_control> block to run without a physical robot.

Hardware diagnostic tests

The test/ directory contains standalone diagnostic scripts that run directly on the robot without ROS 2. See test/README.md.

Troubleshooting

Symptom	Check
Plugin not found	`colcon build`, then `source install/setup.bash`
Servos not moving	Is `esp32-proxy` running? Does `/tmp/esp32-proxy.socket` exist?
Wrong standing pose	Check `default_positions` in `mini_pupper_2_controllers.yaml` — knee values must be `knee_abs` (absolute angle from IK ≈ −0.774 at `default_z_ref=-0.07`), not the raw inter-link angle
Front/rear leg mismatch	Check `SERVO_MULTIPLIERS` abduction row in `mini_pupper_hardware.hpp`

License

Apache License 2.0

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	hardware_interface
	pluginlib
	rclcpp
	rclcpp_lifecycle
	controller_manager

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

hardware_interface

Recent questions tagged `mini_pupper_hardware` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.

mini_pupper_hardware package from mini_pupper_ros repo

mini_pupper_bringup mini_pupper_controllers mini_pupper_dance mini_pupper_description mini_pupper_driver mini_pupper_fleet mini_pupper_hardware mini_pupper_interfaces mini_pupper_music mini_pupper_navigation mini_pupper_recognition mini_pupper_simulation mini_pupper_slam mini_pupper_tracking stanford_controller

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version	0.1.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/mangdangroboticsclub/mini_pupper_ros.git
VCS Type	git
VCS Version	ros2-dev
Last Updated	2026-05-30
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 hardware interface for Mini Pupper robot integrated with ros2_control

Maintainers

MangDang

Authors

cullensun