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Note for MIT Cheetah Software Installation

Ubuntu 18.04 LTS

Dependencies

  • Qt Download Qt Online Installer.

    sudo chmod +X qt-unified-linux-x64-4.1.1-online.run
./qt-unified-linux-x64-4.1.1-online.run

    After registration, install qt5.10.0 newer (requires the gamepad library). NOTE: on Ubuntu 18.10 or 20.04, you may instead install Qt with

    sudo apt install libqt5 libqt5gamepad5

  • LCM Need Java preinstalled.

    git clone https://github.com/lcm-proj/lcm.git 
cd lcm
mkdir build && cd build 
cmake .. 
make 
sudo make install 
sudo ldconfig

  • Eigen Install and copy <eigen3> to <usr/local/include>

    sudo apt install libeigen3-dev
sudo cp -r /usr/include/eigen3  /usr/local/include

  • qpOASES

  • mesa-common-dev

  • freeglut3-dev

  • libblas-dev liblapack-dev

    sudo apt install mesa-common-dev freeglut3-dev coinor-libipopt-dev libblas-dev liblapack-dev gfortran liblapack-dev coinor-libipopt-dev cmake gcc build-essential libglib2.0-dev

Compilation

  • Change master to main in <common/CMakeLists.txt> line 30
  • For Ubuntu 20.04 user, comment out line 17 (asm/termios.h), 21 (termios.h), 24 (stropts.h) in <robot/src/rt/rt_serial.cpp>, and add #include <sys/ioctl.h> and #include <asm/termbits.h> after them. See this issue link.
  • Follow the official guide. 
    git clone https://github.com/mit-biomimetics/Cheetah-Software.git
mkdir build
cd build
cmake ..
./../scripts/make_types.sh
make -j4
  • If you see an error from strncpy(), change line 73 in <robot/src/SimulationBridge.cpp> to 
    strncpy(_sharedMemory().robotToSim.errorMessage, e.what(), sizeof(_sharedMemory().robotToSim.errorMessage)-1);
  • Run ./common/test-common to test the common library.

Simulation

  1. Using LCM on a single host 
    sudo ifconfig lo multicast
sudo route add -net 224.0.0.0 netmask 240.0.0.0 dev lo
  2. Open the simulation control board 
    ./sim/sim
  3. On the left panel, select Mini Cheetah and Simulator and click Start.
  4. Check your controller is connected wired or wirelessly.
  5. Set use_rc to 0 to turn off R/C radio remote control.
  6. In the another terminal, run the robot control code 
    ./user/${controller_folder}/${controller_name} ${robot_name} ${target_system}
    Example 
    ./user/MIT_Controll/mit_ctrl m s
    3: Cheetah 3; m: Mini Cheetah s: simulation; r: robot
  7. Set control_mode to 6 to stand up.
  8. Set control_mode to 4 to trot.
  9. Use your controller to move the robot.