Cyberdog Utils

Remote access jetson nx

Method 1

• Open phone wifi hotspot
• Open app, connect to wifi hotspot

On pc, connect to phone wifi hotspot, then use nmap to scan the network

sudo nmap -sP 192.168.1.0/24

Install nmap with:

sudo apt install nmap

Once the ip detected, to remote access jetson nx:

ssh [email protected]

replace the ip adress with yours, password: 123

Method 2

• open pc wifi hotspot
• Open app, connect to pc wifi hotspot

Then the same steps from the method above.

Recommand this method

Recommanded tools

vscode + ssh extension

Generate wav file to replace the ugly one

• Dependencies

pip install baidu-aip

cd scripts
python3 csv_2_wav.py

the wav files will be generated by data/wav folder

scp ../data/wav/* [email protected]:/opt/ros2/cyberdog/data/wav/

replace ip, reboot the robot.

Joystick control (testing)

A lot of the code is based on Karlsx's code

sudo pip3 install pygame grpcio grpcio-tools
python3 -m grpc_tools.protoc --python_out=. --grpc_python_out=. -I. ./proto/*.proto
cd scripts/
python3 joy.py

It should work with all available joyticks listed in /dev/input/js* .

Realsense depth image centroid follower

Not perfect for the moment but can be tested for fun:

1. Create a ros2 workspace on cyberdog, clone this repo
2. In launch/rs_follow.py modify the parameters (put your dog's mi number)
3. Build this package, you might need to source ros2 environment first
4. Bring up your cyberdog: connect it to your phone, (ideally use your phone's hotspot if you want to bring it outside) switch to outdoor mode, stand up and get down, this will "active" the dog, because on activation, it will disable realsense camera on outdoor mode.
5. Enable realsense camera

ros2 service call /mi999999(put your dog number)/camera/enable std_srvs/SetBool "{data : True}"

6. stand up again and the dog will follow the centroid point in front of the camera.

TODO

• parameterize instead of changing values in launch file
• add service call to enable realsense camera instead of command line
• add service call to enable follower
• add param to enable follower with a gait number
• automate mi serial detection in launch file, ref athena_common getNamepace()
• add script to launch at system start