This repository contains the Robot and Simulation software project. For a getting started guide, see the documentation folder.

The common folder contains the common library with dynamics and utilities The resources folder will contain data files, like CAD of the robot used for the visualization The robot folder will contain the robot program The sim folder will contain the simulation program. It is the only program which depends on QT. The third-party will contain small third party libraries that we have modified. This should just be libsoem for Cheetah 3, which Pat modified at one point.

• ROS Noetic Ninjemys / ROS2 Galactic
• Qt 5.10 - https://www.qt.io/download-qt-installer (tested on 5.12.2 - works fine)
• sudo apt install openjdk-8-jdk (install Java JDK First!)
• LCM - https://lcm-proj.github.io/ (Please make it sure that you have a java to let lcm compile java-extension together)
• sudo apt --fix-broken install
• Eigen - http:https://eigen.tuxfamily.org (Should be build from source not apt install)
• sudo apt install mesa-common-dev freeglut3-dev libblas-dev liblapack-dev
• Don't forget to sudo make install for eigen and lcm

To build all code:

mkdir build
cd build
sudo ldconfig -v
cmake ..
./../scripts/make_types.sh
make -j4

To run the simulator:

1. Open the control board and from /build exec

./sim/sim

2. In the another command window, run the robot control code, from /build dir.

./user/${controller_folder}/${controller_name} ${robot_name} ${target_system}

Example)

./user/MIT_Controller/mit_ctrl m s

3: Cheetah 3, m: Mini Cheetah s: simulation, r: robot

Install all dependecies first

• ROS Noetic Ninjemys
• sudo apt --fix-broken install
• openjdk-8-jdk
• LCM - https://lcm-proj.github.io/ (Please make it sure that you have a java to let lcm compile java-extension together)
• Eigen - http:https://eigen.tuxfamily.org (Should be build from source not apt install)
• mesa-common-dev
• freeglut3-dev
• libblas-dev liblapack-dev

To build all code:

mkdir mc-build
cd mc-build
sudo ldconfig -v
cmake .. -DMINI_CHEETAH_BUILD=TRUE -DNO_SIM=ON
./../scripts/make_types.sh
make

This build process builds the common library, robot code, and NO simulator. If you just change robot code, you can simply run make -j4 again. If you change LCM types, you'll need to run cmake ..; make -j4. This automatically runs make_types.sh.

To test the common library, run common/test-common. To run the robot code, run robot/robot. To run the simulator, run sim/sim.

Part of this build process will automatically download the gtest software testing framework and sets it up. After it is done building, it will produce a libbiomimetics.a static library and an executable test-common. Run the tests with common/test-common. This output should hopefully end with

[----------] Global test environment tear-down
[==========] 18 tests from 3 test cases ran. (0 ms total)
[  PASSED  ] 18 tests.

Its possiblly need to run sudo ldconfig -v to add lcm to paths

1. ssh into robot
2. cd mc-build
3. Copy program to mini cheetah root dir with ../scripts/copy_to_mini_cheetah.sh
4. Enter the robot program folder cd robot-software-..../build/
5. Run robot code ./run_mc.sh

To use Ipopt, use CMake Ipopt option. Ex) cmake -DIPOPT_OPTION=ON ..

Two topics implemented: cmd_vel with standard Twist funtions. Linear.z is for height variations. and rc_mode topic to change state according to the table:

OFF = 0; STAND_UP = 2; QP_STAND = 3; BACKFLIP_PRE = 4; BACKFLIP = 5; VISION = 6; LOCOMOTION = 11; RECOVERY_STAND = 12;

// Experiment Mode TWO_LEG_STANCE_PRE = 20; TWO_LEG_STANCE = 21; SALUTE = 22 to transit to ExpModes please use rc_mode 2 -> rc_mode 20/21/22