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Mini Pupper

Software

High level architecture

Below is a list of repositories where you can find code for your Mini Pupper. Some of these repositories are hosted by MangDang and we make every effort to maintain these repositories. Please open issues on GitHub when you see fit and submit pull requests if you can improve the code.

We are an open community and welcome contributions. If you have written code for Mini Pupper that you want to share please submit a PR to this repo with the details.

We also provide full stacks that come with a setup script that you can run starting with an SD card with Ubuntu installed. Clone this repository, run the setup script for the stack you want to install and wait until the Raspberry Pi reboots. See below for details.

We highlight the Status of the code as follows:

  • experimental: this is code in an early stage. Be prepared to debug and discuss if you want to get involved.
  • testing: this code should work but expect to hit some bugs.
  • working: the code has been tested and supposed to work as intended. You might still find bugs, please consider raising a GitHub issue.
  • production: this code is used by many of our users and we encourage you to raise a GitHub issue should you encounter any bug.

Installation

Fully Automated Installation

Prepare an SD card with the operating system required for your stack.

Jammy: ubuntu-22.04.2-preinstalled-server-arm64+raspi.img.xz is recommended, you can find it on Ubuntu official website or our google drive.

Clone this repository on the PC where you have created your SD card. Make sure the SD card is mounted. Run

prepare_sd.py

And answer the questions. At the end, it will show "Flashed cloud-config successfully"
Then eject your SD card, stick it into Mini Pupper, boot Mini Pupper and wait until the IP address is shown on the LCD.
Initial setup on Raspberry Pi takes an hour or more.

You can use lsblk command to check the full path to SD card on Ubuntu, similar to /media/username/system-boot/.

If you are using Windows, run prepare_sd.bat instead of prepare_sd.py.

Pre-build Images

You can flash your SD card with our pre-built images.

We recommend you use no-ros pre-built images first to confirm the basic functions using the controller or the browser, then try the ros version if needed.

Whenever you report a SW issue, please post the file "mini-pupper-release" of your pupper. This must contain the line IS_RELEASE=YES, if not please install our official image and report back if the issue still exists.

Reconfiguration

If you need to change WiFi credential or the ubuntu user password run

mini_pupper_reconfigure.py

And answer the questions. Then eject your SD card, stick it into Mini Pupper, boot Mini Pupper and wait until the IP address is shown on the LCD.

Hosted by MangDang

Repositories

You will find these repos under https://github.com/mangdangroboticsclub

Repository Description Status
mini_pupper_bsp BSP(board support package) for Mini Pupper. working
mini_pupper_2_bsp BSP(board support package) for Mini Pupper v2. working
StanfordQuadruped -b mini_pupper This is a fork of the StanfordQuadruped repository with modification to make it run on Mini Pupper working
mini_pupper_ros_bsp BSP(board support package) for Mini Pupper (all hardware versions). working
mini_pupper_web_controller This code provides a web GUI for Mini Pupper running StanfordQuadruped testing
mini_pupper_ros -b ros2 This code used Champ and ROS2 to control Mini Pupper. experimental

Full Stacks

Name OS Description
Stanford Jammy Allows to control your Mini Pupper with either a supported PS4 joystick or a Web GUI using the Stanford controller
ROS2 Jammy Run ROS2 on your Mini Pupper.

Contributions

Repositories

Repository Description Status
minipupper_kinematics This repositories contains Jupyter notebook that I used to gain a better understanding of the kinematics of a quadruped robot in general and MangDang Mini Pupper in particular. experimental
mini-pupper-jupyter-notebooks ROSCon2022 Jupyter Notebooks for Mini Pupper. experimental