Scorpion

This is a ROS2 software for the following older project youtube video available here.

How to Build the Package

The package is based on ROS2 Humble (on Ubuntu 22.04) and can be compiled on a laptop or a Raspberry Pi. To compile:

Create your workspace folder

mkdir -p ~/my_ws/src

cd ~/my_ws/src

Clone the repo

git clone [email protected]:Modi1987/scorpion.git

cd scorpion

git checkout i2c_actuators

There are bash scripts that will allow you to build your workspace you can do this on your PC if you want to run RVIZ simulations, or on Raspberry-pi4 if you want to run on real-robot

cd ~/my_ws/src/scorpion/scripts

./setup_penta_workspace.sh

Setting up on real robot Raspberry pi4

besides to the previous steps to setup your workspace, to control the real-robot you will need to configure the i2c bus on Raspberry-pi 4, to do so on the Raspberry-pi 4:

cd ~/my_ws/src/scorpion/scripts

./setup_i2c_on_raspberry_pi4.sh

Main launch file to control the real-robot

cd ~/my_ws

source install/setup.bash

ros2 launch penta_pod realhardware_bringup.launch.py

The robot shall move legs when the previous launch file is called

Finally, you can move the robot around from external PC using keyboard

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Setup as a service (automatic on boot)

To bring-up the robot automatically each time you boot the robot (without having to launch the brinup manually), run the following script on the Raspberry Pi

cd ~/my_ws/src/scorpion/scripts

./setup_service_penta_bringup_on_boot.sh

Run in simulation

You can run the simulation using the command

ros2 launch penta_pod penta_simn_rviz.launch.py

You can move the robot around using

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Using devcontainers

You can use devconainers, in VS code using Remote Development plug in, do Reopen in Container, then from terminal

cd ..

source install/setup.bash

ros2 launch penta_pod penta_sim_rviz.launch.py

If rviz crashes, make sure to run in your terminal:

xhost +local:docker

Using Docker Compose

You can build the docker image (on ur machine) using the Dockerfile inside Docker folder as the following

cd .devcontainer

docker compose up

attache the docker container

docker ps -a

docker exec -it devcontainer-scorpion-ros2-1 /bin/bash

cd ..

source install/setup.bash

ros2 launch penta_pod penta_pod.launch.py