Spot Micro Quadruped Project

Great work @mike4192

This is a fork of the original @mike4192 project, upgraded to work will ROS NOETIC and UBUNTU 20.04

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NOETIC version

Version for UBUNTU 20.4 and ROS NOETIC, both of them LTS version, with support until 2025. Furthermore, NOETIC uses python 3 by default, once python 2.7 is deprecated.

It is 100% functional, resulting faster and with long term support, also it will make much easer migrate to ROS 2 (ros-bridge), if it is the choice.

UBUNTU 20.4 64 bits (desktop / raspberry pi (server version))

INSTALL ROS NOETIC UBUNTU 20.4 64 bits

http://wiki.ros.org/noetic/Installation/Ubuntu

NOTE use ros-noetic-base option

sudo apt install ros-noetic-ros-base

Additional packages

sudo apt install python3-catkin python3-catkin-pkg python3-catkin-pkg-modules python3-catkin-tools
sudo apt install libi2c-dev i2c-tools python3-smbus python3-rpi.gpio
sudo apt install qtbase5-dev
sudo apt install ros-noetic-tf2-eigen ros-noetic-tf2-ros
sudo apt install ros-noetic-joy
sudo apt install ros-noetic-hector-slam

VERSION CHECKOUT AND SETUP

Note that this repo utilizes two git submodules, which require additional steps to check out. After checking out the main repo, checkout the submodules via:

git submodule update --init --recursive
git submodule update --recursive

ROSI2C

Some change before compile

Add i2c into line 22 of src/ros-i2cpwmboard/CMakeLists.txt, so that it looks like:

target_link_libraries(i2cpwm_board ${catkin_LIBRARIES} i2c)

And add the code below to src/ros-i2cpwmboard/src/i2cpwm_controller.cpp:

extern "C" {
	#include <i2c/smbus.h>
}

ADD ubuntu user to i2c group

sudo usermod -a -G i2c ubuntu
logout

Test i2c access

run i2cdetect -y 1 as ubuntu user

Expected output below

     0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f
00:          -- -- -- -- -- -- -- -- -- -- -- -- -- 
10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
40: 40 -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 

70: 70 -- -- -- -- -- -- --   

READY TO COMPILE

https://github.com/mike4192/spotMicro

Future Work

Incorporate a Intel realsense R300 to achieve 3D mapping via SLAM, to avoid obstacles, recognize hands commands and recognize faces.

REFERENCE

NOETIC INSTALL - UBUNTU 20.4

http://wiki.ros.org/noetic/Installation/Ubuntu

MIGRATION TO NOETIC

http://wiki.ros.org/noetic/Migration

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ORIGINAL PROJECT

https://github.com/mike4192/spotMicro

Video of robot: https://www.youtube.com/watch?v=S-uzWG9Z-5E