Tigrillo

A library to simulate and pilot the Tigrillo quadruped robot

Requirements

ROS mpi4py Known issues:

NRP installed => need to install mpi4py manually using the mpi version from the NRP

• remove other mpi4py versions
• clone rep
• change config
• build
• install

Installation

Clone the last repository version:

git clone https://github.com/Gabs48/tigrillo

To work with an example, fist check-out the last version and install the libraries in dev mode:

cd tigrillo && git checkout master && sudo python setup.py develop --record installed_files.txt

You can remove the library with:

cd tigrillo && cat installed_files.txt | sudo xargs rm -rf

Examples

Simulation

Using Bullet Simulator: TBD! Using Gazebo: TBD! Install the models Using Mujoco: TBD!

Known issues: Adapt the configuration files: find . -type f -print0 | xargs -0 sed -i 's/gabs48/gurbain/g'

Run on real platform

To run the code on the robotic platform:

• Upload the .ino project in the OpenCM board. You can test it with a serial port running a
• Install this package on the raspberryPI3 (see above)
• Connect the OpenCM is connected to the RPI via a USB cable (it should then appear with /dev/ttyACM0 in group dialout. Make sure your user is part of this group to communicate on the bus)
• Connect the IMU on the I2C0 device. Check it with:

sudo i2cdetect -y 1

• Run an example that controls the actuators in open loop and record all sensors data:

cd tigrillo/examples && python2 run_openloop_cpg.py

Create a custom tigrillo robot model

TBD!

TO ADD to installation RPI

• sudo apt-get install libfreetype6-dev libpng12-dev libcr-dev mpich mpich-doc libopenmpi-dev liblapack-dev libblas-dev
• Rmq: had to install mpi4py with pip
• Attention develop
• correct OpenCM install
• adafruit install: https://github.com/adafruit/Adafruit_Python_GPIO