hyperdog_ros2

HyperDog is a quadruped robot which is fully based on ROS 2 and Micro-ROS.

Publications:

• [HyperDog

  IEEE SMC-2022](https://ieeexplore.ieee.org/document/9945526)

• [DogTouch

  IEEE VTC-2022](https://ieeexplore.ieee.org/document/9860815)

• [HyperGuider

  IEEE SMC-2022](https://ieeexplore.ieee.org/document/9945364)

• [HyperPalm

  IEEE SMC-2022](https://ieeexplore.ieee.org/document/9945223)

YouTube:

• HyperDog Demo
• IEEE SMC-2023 presentation
• HyperDog Playlist

Contains

This repository contains ros2 packages for quadruped robot HyperDog. packages are :

1. hyperdog_msgs : this package contains the msgs those used by other packages.

   1. JoyCtrlCmds : this contains the control variables of the robot from the gamepad
      • bool[3] states : { start, walk, side_move_mode}
      • uint8 gait_type : to change the gait type
      • geometry_msgs/Pose pose : to control slant(x,y) and roll,pitch,yaw
      • geometry_msgs/Vector3 gait_step : gait_step.x = steplen_x, gait_step.y = steplen_y, gait_step.z = swing_height
   2. Geometry: this contains the parameters for coordinate of each leg and body orientation(roll,pitch,yaw)
      • geometry_msgs/Point32 fr : x,y,z end effector coordinates of FR leg
      • geometry_msgs/Point32 fl : x,y,z end effector coordinates of FL leg
      • geometry_msgs/Point32 br : x,y,z end effector coordinates of BR leg
      • geometry_msgs/Point32 bl : x,y,z end effector coordinates of BL leg
      • geometry_msgs/Quaternion euler_ang : roll, pitch, yaw angles
2. hyperdog_teleop : this pkg creates `/hyperdog_teleop_gamepad_node.
   • Node 1 : /joy_node This node creates commands to robot from Gamepad commands
     • subscriber : /joy_node
     • publisher : /hyperdog_joy_ctrl_cmd using the interface hyperdog_msgs/msg/JoyCtrlCmd
3. hyperdog_ctrl : This pkg has Body_motion_planner and gait_generater and creates the nodes /command_manager_node and /IK_node
   • Body_motion_planner : plans body motions from control commands receive from /command_manager_node

   • gait_generator : generates gaits acording to the given gait_type command from the Gamepad

   • Node 1 : /command_manager_node
     • subscriber : /hyperdog_joy_ctrl_cmd via hyperdog_msgs/msg/JoyCtrlCmds interface
     • publisher : /hyperdog_geometry via hyperdog_msgs/msg/Geometry interface
   • Node 2 : /IK_node
     • subscriber : /hyperdog_geometry via hyperdog_msgs/msg/Geometry interface
     • publisher : /hyperdog_jointController/commands

4. uros : this is the micro_ros package from its official git. this package is used to launch micro_ros_agent to communicate with micro-controllers which run micro_ros via ROS2

5. hyperdog_launch : This contains the launch file for all the above nodes and micro_ros_agent

6. hyperdog_gazebo_sim : Gazebo simmulation

7. hyperdog_gazebo_joint_cmd : this pkg contains the node /hyperdog_gazebo_joint_cmd to send joint angles to gazebo
   • Node : /hyperdog_gazebo_joint_cmd
     • subscriber : /hyperdog_jointController/commands
     • publisher : ‘/gazebo_joint_controller/commands`

Building

1. Create a ROS2 workspace and build this package for ROS2 foxy

 # make the workspace
 mkdir hyperdog_ws/src 
 cd hyperdog_ws/src
 
 # download the pkg
 git clone https://github.com/NDHANA94/hyperdog_ros2.git
 
 # build the pkg
 cd .. 
 colcon build
 

1. build micro_ros_agent in hyperdog_ws from the git repository https://github.com/micro-ROS/micro_ros_setup/tree/foxy. follow instuction and build the micro_ros_agent.
2. edit line 41 in hyperdog_ros2/src/hyperdog_launch/launch/hyperdog.launch.py script to configure your serial port.
3. go to hyperdog_ws directory and build all the packages again

# Launching source the workspace

 source hyperdog_ws/install/setup.bash
 

to add workspace source permenently to .bashrc:

    
    # add source 
    echo "source /home/$USER/hyperdog_ws/install/setup.bash" >> ~/.bachrc
  

to launch run following

  ros2 launch hyperdog_launch hyperdog.launch.py
 
  

to launch gazebo with hyperdog

  ros2 launch hyperdog_gazebo_sim hyperdog_gazebo_sim.launch.py
  

Known bugs:

• gazebo-ros2-control pkg doesn’t work properly. So the robot slides on the ground.