Summary

You can try this application on Mini Pupper and Mini Pupper2.

Web GUI that can be run on mobile devices, such as smartphones, Pad, and Notebook can run a browser.

Installation

Step 1: Install the BSP((board support package) repo for your Mini Pupper 2 or Mini Pupper.

Step 2: Install StanfordQuadruped repo.

Step 3: Install this repo.

cd ~
git clone https://github.com/mangdangroboticsclub/mini_pupper_web_controller.git
./mini_pupper_web_controller/webserver/install.sh

Run

Make sure Mini Pupper can get its IP address

• If you compile the code by yourself, you will see Mini Pupper IP address on the screen.

• If you use the pre-built image, please confirm the following steps.

Set the same WiFi as the pre-built image

WiFi AP name is Mangdang and the password is mangdang . You can set the same WiFi using your Mobile phone, Mini Pupper will find and connect the WiFi when booting up, and then the IP address will show on the screen.

Config your own WiFi

Use your own WiFi AP name and password to replace the default values in "/etc/netplan/50-cloud-init.yaml" . You can use the SD card to boot the system, then edit line 16, 17 in "/etc/netplan/50-cloud-init.yaml", or you put the SD card into the SD reader and plug it into a Ubuntu PC, and then edit 50-cloud-init.yaml, just as shown in the following picture,

and then run the command "sudo netplan apply" or reboot Mini Pupper, and then the IP address should be shown on the screen.

Use a web browser to control

• Point a web browser to http://x.x.x.x:8080 where x.x.x.x is the IP address of your mini_pupper, such as, http://192.168.5.196:8080
• Click the “Activate” button of the "Controller" tab.
• Click the “Activate/Deactivate” button of the "Pupper" tab.
• Click the "≡" icon at the top left corner.
• Choose the "Walk" option.
• Click the "Walk/Rest" button.
• Use the scroll bar to control your Mini Pupper

Keyboard controller on PC side(Need to update later)

If you want to use a keyboard to control Mini Pupper, please try the below steps. Be certain to tell ssh to allow X11 forwarding before you run it.

ssh -o ForwardX11=yes ubuntu@<Your Mini Pupper IP address>

cd ~
sudo apt-get update
sudo apt-get install -y libsdl2-2.0-0
sudo pip3 install pygame
git clone https://github.com/mangdangroboticsclub/PupperKeyboardController
python keyboard_joystick.py