popi-mkx3 / popi_project Goto Github PK

Hi!
First, I would say that your project is very interesting!

I am curious about the kind of motors you have been using in this project. Are you currently using BLDC motors?

Thanks in andance

Hello, everyone.
I have a new question about Popi.
I want to know about Popi's equation of motion in every gaits of legs and base.
I'm a collage student and studying about 4-legged robot simulation.

Popi simulates motion and path of robot by using system of Towr.
I found this repogitory during studying about Towr.
ALEXANDER in ETH Zurich published paper about kinematics of 4-legged robot, Towr and Xpp
He also introduced the paper in his repogitory.

Robot models of Popi is deferent from Xpp, so I searched paper which wrote about Popi, because I want to study Popi's kinematics anew.
But I couldn't find the paper in the web.
I apologize my low level ability of searching paper.

If you published the paper which wrote about Popi's kinematics or equation of motion in formula, can you tell me where is the paper?
If possible, please tell me about Popi's kinematics or equation of motion in this issue?

Hello every one,I installed all dependences and cloned all popi_project packages.
When i run catkin_make_isolated,it shows that:

[ 69%] Building CXX object CMakeFiles/towr_user_interface.dir/src/towr_user_interface.cc.o
/home/uchidavm/catkin_ws4/src/popi_project/popi_software/towr/towr/towr_ros/src/towr_user_interface.cc: In constructor ‘towr::TowrUserInterface::TowrUserInterface()’:
/home/uchidavm/catkin_ws4/src/popi_project/popi_software/towr/towr/towr_ros/src/towr_user_interface.cc:70:29: error: ‘Popi’ is not a member of ‘towr::RobotModel’
robot_ = RobotModel::Popi;
^~~~
CMakeFiles/towr_user_interface.dir/build.make:62: recipe for target 'CMakeFiles/towr_user_interface.dir/src/towr_user_interface.cc.o' failed
make[2]: *** [CMakeFiles/towr_user_interface.dir/src/towr_user_interface.cc.o] Error 1
CMakeFiles/Makefile2:675: recipe for target 'CMakeFiles/towr_user_interface.dir/all' failed
make[1]: *** [CMakeFiles/towr_user_interface.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
<== Failed to process package 'towr_ros':
Command '['/home/uchidavm/catkin_ws4/devel_isolated/xpp_popi/env.sh', 'make', '-j1', '-l1']' returned non-zero exit status 2

Reproduce this error by running:
==> cd /home/uchidavm/catkin_ws4/build_isolated/towr_ros && /home/uchidavm/catkin_ws4/devel_isolated/xpp_popi/env.sh make -j1 -l1

Command failed, exiting.

It occures in package of towr_ros

I want to fix this error ,what shoud I do?

running environment
Oracle VM VirtualBox, ubuntu18.04,ros melodic

You said that you easily added your robot model in towr. Can you please explain how to do it with my robot unitree a1?