Hi,
I am using pupper with ROS and it works fine so far. I managed to run lidar navigation and also could connect a pi camera. Is there a way to use the LCD Display? At the moment it boots with a text on it "Mini Pupper" and has no backlight. What is the smart way to control it on ROS?

Thanks and best regards

Daniel

I got BasicKit, tried 3DPrint with my printer.
I found link in BOMList, but can't access to 3DPrintData. (NotFound)
that link is here. if exist other link, plz tell me.

"If you want to print the 3D parts by self, please refer to the below source files:
https://drive.google.com/file/d/1T_J6pcALxuLAoklKPrTxZPnOd6V5lY8z/view?usp=sharing
"

@mangdangroboticsclub Hello! I am very interested in building this project. I love this project so much! There are just some things I am confused about.

1: I understand that there is a BOM list but I don't know where to order the custom Carbon fiber parts. I will order from the section that says Custom parts but I don't see the Carbon fiber shell there. If I can print the Carbon Fiber shell using standard PLA, please let me know.

2: I also noticed that the Software Installation tutorial is not working and shows the 404 error here. If possible, can you provide a link? I would be using a Raspberry Pi 4 for this.

I will also try to add new features to this bot such as GPS location and more. I would then update this Open Source Project with access to its code.

Thank you so much in advance!

Do you have instructions for mechanical installation of the provided lidar?

After flashing 20220109_v1.7.0_MiniPupper_V2_PS4_Ubuntu_21.10.0_Baseline.img.zip I noted Wifi chip no longer recognized.
Tried to install 20211220_v2.1.3_MiniPupper_V2_PS4_Ubuntu_20.04.2_Baseline.img.zip and the board now says start4.elf is not recognized, this board needs newer software.

Hello there are some stl files missing as fiber parts. Can you share it?

Can you share de fusion360 obj to improve and change some parts?

Thanks.

Hi,
It seems most assembly instructions, apart from the Legs video, are simply placeholders for missing, euh, Assembly Instructions

Do they still need to be copied from another repository, or are these documented elsewhere?

And estimated available voltages on board?
Thanks!

Hi, I have a 16GB sd card. Is it enough for use? Thx :D

I want to make a base-on-a-stick, like in the examples and tutorials. For that it would be helpful if the CAD file of the baseplate was available. I want to 'click' it into place where the battery normally sits, but for that you need something with tabs which slide into place.

Life would be easier if the baseplate design would be available.

It seems that the google groups mentioned in the description
(https://groups.google.com/g/minipupper) are not accessible?

Content unavailable

Click here to try again.
If you've seen this page more than once, try switching accounts.

Is there a Gazebo simulation model (URDF) for mini-pupper? If not, are the CAD files available to create one?

I force fit the servos (the central ones)as I didn't have the right screwdrivers.

Links to the right sized screwdriver (sets are ok too) would help folks like me.

The link given for Assembly instructions in the README (https://drive.google.com/file/d/12Xbnqv3Rm7TEcjBZVSbVkBVNKNO3IOfm/view?usp=sharing) leads me to a 'Sorry, the file you have requested does not exist.' error.

Do you have instructions for setting up the WiFi for the Mini Pupper?

Hello,

Since you created your own servo motors, which means that you can customize the PCB of the servo, I think that you could actually use the servos as a sensor too. I guess that your servos are classic digital model with a PID control loop, sensing the current position, and sending electricity to the motor to move to the correct position.

This means that if the robot is "hitting" something with its legs, we could detect it. Indeed, the servo could return what was the actual movement based on the servo's sensor versus the electricity sent. Then, an algorithm could detect "anomalies", like the motor didn't turn as much as expected based on the current sent, or that the motor moved suddenly without electrical impulse.

To achieve this, you could replace the "PWM" cable, but an I2C or CAN bus, with all motors in daisy-chain, and the Raspberry Pi reading the sensor values. Each servo could have a dip switch to attribute unique bus ID/address to each sensor. Maybe even the servo's PCB could use a tiny AVR microcontroller so that it can be programmed using Arduino, and the community could help improve those algorithms.

The idea is to make the Mini Pupper even more high-tech, without adding much cost. Cost could even be saved if you can simplify the Raspberry Pi expansion PCB, and control all servos straight from the Pi using I2C. Such a servo could also benefit many other robots!

Thanks for this cool project :-)

Laurent

Several images in QuadrupedRobot/Mangdang/LCD/cartoons have a .png extensions: logo.png, notconnect.png, turnaround.png, walk.png, walk_r1.png.
But these are actually jpg files, which is confusing. Please convert them to .png.

With the pre-installed image the services for joystick and robot are running, but the robot doesn't move while running "calibrate_servos.py".

Therefore I tried to install a empty "ubuntu-18.04.5-preinstalled-server-arm64+raspi4.img" image and cloned and used the "MiniPupper_V2" repro. After installing bluez for bluetooth the connection to the PS4 controller works but for the robot services I get this error:

Traceback (most recent call last): File "run_robot.py", line 16, in <module> from src.Controller import Controller File "/home/ubuntu/QuadrupedRobot/StanfordQuadruped/src/Controller.py", line 2, in <module> from src.GaitScheme import GaitScheme ImportError: /home/ubuntu/QuadrupedRobot/StanfordQuadruped/src/GaitScheme.so: undefined symbol: PyInterpreterState_GetID

Are there other requirements besides bluez I need to manually install? Or should I use another software version?

Hey there. I'm seeing issues with the movement for what seems to be the thigh motor on leg 3. You can see from the video that it seems to miss the full range of movement. In the calibration tool it has no problems with the full range.

Hi,
Could you please share source files of two .so files under StanfordQuadruped/src ?
Thank you a lot !

I have issues with the calibrate tool. At start it gives an error message:

Error, get nv calibration params failed, use default value. Please calibrate your pupper !

When I press the 'Update' button I get this error:

out
[[ -9.   9.  12.  15.]
 [ 35.  35.  60.  35.]
 [-30. -27. -22. -48.]]
Exception in Tkinter callback
Traceback (most recent call last):
  File "/usr/lib/python3.8/tkinter/__init__.py", line 1892, in __call__
    return self.func(*args)
  File "calibrate_tool.py", line 239, in updateButton2Event
    self.writeCalibrationFile()
  File "calibrate_tool.py", line 193, in writeCalibrationFile
    with open(ServoCalibrationFilePath, "w") as nv_f:
FileNotFoundError: [Errno 2] No such file or directory: '/sys/bus/nvmem/devices/3-00501/nvmem'

The mentioned path does not exist. Apparently the name is wrong:

# ls  /sys/bus/nvmem/devices/
3-00500

So I changed the path to /sys/bus/nvmem/devices/3-00500/nvmem and tried again.
Now it works and there are no error messages

After many attempts in assembly, I got the mini pupper assembled. After fixing wifi and figuring out how to run calibrate_tool from the command line, I am running into the 'servos overload please check' issue.

Any suggestions?

I am using the (64bit)v1.0.0.20220219.MiniPupper_V2_ROS&OpenCV_Ubuntu20.04.03.img.zip image.

Image 20220109_v1.7.0_MiniPupper_V2_PS4_Ubuntu_21.10.0_Baseline.img.zip
Can't Calibrate Leg 4 Calf. It always moves to the previous position.
Angle Matrix
[-6.0, -9.0, 5.0, -6.0]
[56.0, 79.0, 56.0, 15.0]
[-38.0, -31.0, -35.0, -90.0]
It's the last value in the last row. Seems -90 is the maximum value.
I edited the code, now it updates with -98 and look fine. why is 90 max value in code?

Good day,

I have not received several of the parts advertised with the developer package, but what it is more concerning there is no information about these parts anywhere, making it impossible to buy them, or print them.

Regarding missing parts information in the BOM Lists:

• The 4 bearings/brushings used in the chassis of the robot are not listed, and its specifications are not known making it impossible to buy these parts (WHICH DID NOT COME WITH MY PACKAGE). Are these bearings? or brushings? please provide a link to them or at least their specifications.
  

Regarding missing STL files:

• Robot feet. I did not receive the robot feet with my package, there is not 3D file to them, nor a mechanism for ordering them

Can you share the Fusion360 assembly file, such that we can use it for more than visualization, that is, so we can use this assembly to obtain a URDF file and to properly make modifications to the robot parts, and assembly?.

Hello! Really nice project! Is there any plan to connect it with ROS?

BOM list: https://drive.google.com/file/d/18phJat8GdK5Yq5p4K1ZmfY1-nMf1lQw4/view?usp=sharing

results in

the same goes for file available here https://mangdang-minipupperdocs.readthedocs-hosted.com/en/latest/reference/Design.html

I tried using the preinstalled image, but clicking on it says page not found. I tried installing through Etcher and it says incorrect login when I use ubuntu as the username and mangdang for the password. Thanks for the help. I am really excited about using this!

Leg_Arm_Upper part of mine was broken. Can you afford the stl file so that I can print it with my 3D printer?

Hi there

I took the 20220109_v1.7.0_MiniPupper_V2_PS4_Ubuntu_21_10_0_Baseline.Img corresponding the V2 custom circuit board and I did not get any problem for the installation.

I Run sudo systemctl status joystick and I got the following:

which looks good as well. However, pairing the PS4 joystick did not succeed. So I run sudo hciconfig hci0 up as you mentioned in a doc, restart the PI and still no pairing.... I do not know how to debug this bluetooth stuff to be honest... and not familiar with it as well.

I ran hciconfig -a and here is the result:

So if you can suggest some hint, I will be more than happy

Otherwise, because I would like to see this robot working, how can I test it without the joystick?

I ran also sudo systemctl status robot and I noticed some modules did not match the runtime version, is it something to consider or not?

Thanks for your support

Hi,
-Step 3: "this version so everyone is using the same version" is not there, so I used the official image
-4. Verify everything is working leads to: Wifi is gone, see other issue here, is fixable but Bluetooth is not working (Failed to start discovery: org.bluez.Error.InProgress)
-4. is follwed by 7. where is 5. and 6.

It looks promising, but the problems that arise are traditional.

Hi all.

After solving the servo issue, I'm not facing another one.

My command (the one that came with the KIT) is not bound to the robot more than a few seconds or until a first command. After that, it just turns off (the LED turns off) and the robot does not respond anymore to it. The LCD face also changes to when is not activated.

I'm following the instructions. The command is bound to the robot - the LED turns green.
I press the L1 button to activate the robot. It does activate.
I press the left joystick - nothing happens.
I press the R1 button - from rest to throttle - it starts the throttle - very weirdly I must say. I press the R1 again to rest -
The green LED turns off... The face of the robot changes... IT does not respond anymore...

I need to repeat the bind process again... L1 to activate the robot - joystick does nothing... R1 is the only thing that works...

What's happening ?

Thank you

/home/ubuntu/Robotics/QuadrupedRobot/Mangdang/PWMController/pwm-pca9685.c:540:13: error: void value not ignored as it ought to be
540 | ret = pwmchip_remove(&pca->chip);
| ^
make[2]: *** [scripts/Makefile.build:285: /home/ubuntu/Robotics/QuadrupedRobot/Mangdang/PWMController/pwm-pca9685.o] Error 1
make[1]: *** [Makefile:1875: /home/ubuntu/Robotics/QuadrupedRobot/Mangdang/PWMController] Error 2
make[1]: Leaving directory '/usr/src/linux-headers-5.15.0-1012-raspi'
make: *** [Makefile:8: all] Error 2

I tried following the instructions here:
https://mangdang-minipupperdocs.readthedocs-hosted.com/en/latest/guide/SLAM.html. I was able to set up the PC side. The Raspberry Pi B4 will not run the ISO https://drive.google.com/file/d/11zeivhN-fyTMdf6iuhcVD-Ib6aKj7s_5/view?usp=sharing in the Google Drive site. The Raspberry Pi reports newer software is required.

The code snippet should read as below (edits in bold text):

cd ~
sudo apt-get update
sudo apt-get install -y python3-wstool python3-rosdep ninja-build stow
mkdir carto_ws
cd carto_ws
wstool init src
wstool merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=noetic-y
src/cartographer/scripts/install_abseil.sh
source /opt/ros/noetic/setup.bash
sudo apt-get remove ros-${ROS_DISTRO}-abseil-cpp
catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash

Otherwise cartographer_ros will not install.

After updating Ubuntu packages, caribration data was not restored.
I re-instaled initial image, then it worked as expected.

I think it was caused by lack of kernel module for newly installed kernel.
I suggest to use DKMS (Dynamic Kernel Module Support framework) that automatically compiles and installs custom kernel module for newly installed kernel.

Hi,
I followed this link, all things go well, but I can only use my wifi ... Then after executing

sudo bash install.sh & sudo reboot

The WLAN cannot work.
There're some ideas , but after

sudo netplan apply

I got

a dependency job for netplan-wpa-wlan0.service failed

ANY ideas？ Thx.

P.S. Another link also does not support wifi?

Hi there,

I am digging in the code but I do see that there are two .so files and no source code associated, can you tell me hay it is like this? Also what is the content of GaitScheme.so ?
Thank you for your help
Regards

I read the code of this project, but I did not find code about ROS? Could you tell me where can I find?

comparing the parts I got with the BOM I see that there are differences in length and size - e.g at the inserts and the standoffs
Is there an update build instruction available?

What are the specs of the servo, if someone customises their build and needs to increase the power-weight ratio proportionally?

I used the 20220109_v1.7.0_MiniPupper_V2_PS4_Ubuntu_21.10.0_Baseline.img.zip image.
The battery monitor was working. I could read the data from /sys/class/power_supply/max1720x_battery.
After installing I did a apt upgrade the battery monitor was no longer working.
During the upgrade a new kernel was installed (5.13.0-1015-raspi). The previous kernel was 5.13.0-1011-raspi.
It turns out that the max1720x_battery kernel module is not present in the new kernel.

Dockstation for battery charging and auto docking(as robo vacuum cleaner)