Stanford Controller

This controller was originally developed by students from the Stanford Robotics Club. You can check out its source code here. It was later forked to this repository.

The stanford_controller package in this repository migrates the StanfordQuadruped into the ROS2 ecosystem for the mini_pupper_ros project. Currently, the controller can only be run on a real device, not in a simulator.

1. Stanford Controller vs. Champ Controller

You can only run one controller at a time: either the Stanford Controller or the Champ Controller.

• Stanford Controller: Simpler and more beginner-friendly for learning robotics.
• Champ Controller: More sophisticated and general, supporting multiple quadruped robot models.

To use the Champ Controller, refer to the main README document.

2. How to Run Mini Pupper with the Stanford Controller

Mini Pupper

# Terminal 1 (SSH)
. ~/ros2_ws/install/setup.bash # Use setup.zsh if you use zsh instead of bash
ros2 launch mini_pupper_bringup bringup_with_stanford_controller.launch.py

PC

# Terminal 2
source ~/ros2_ws/install/setup.bash
ros2 launch stanford_controller twist_to_command_converter.launch.py

# Terminal 3
source ~/ros2_ws/install/setup.bash
ros2 run teleop_twist_keyboard teleop_twist_keyboard

You can now control the robot using the keyboard in Terminal 3.

3. How to Make the Mini Pupper Dance

Mini Pupper

# Terminal 1 (SSH)
. ~/ros2_ws/install/setup.bash # Use setup.zsh if you use zsh instead of bash
ros2 launch mini_pupper_bringup bringup_with_stanford_controller.launch.py

PC (or Mini Pupper)

# Terminal 2 (SSH)
source ~/ros2_ws/install/setup.bash
ros2 launch mini_pupper_dance new_dance.launch.py

You can modify the createDanceActionListSample.py file in the new_dance folder to define new dance moves. Edit or add actions to the dance action list, where each action specifies a pose or movement for the robot. After making changes, rebuild the package to apply the updates.