ROS2 package for Xiaomi Cybergear.
Warning
Xiaomi Cybergear can generate high torque, so please make control parameter adjustments at your own risk.
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Host OS
- ubuntu 20.04
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Applciations
- Docker : docker-ce 24.0.6
- Container OS : Ubuntu 22.04
- Middleware : ROS2 (humble)
Create dev-environment on docker using follow commands.
docker compose up command launch terminator (blue color) that develop with ros2 humble.
This docker container contains ros2-humble and necessary software to launch samples.
cd docker
# please check and modify follow env vairables at this script.
# WORKSPACE_DIR ... mount diretory
# SERIAL_DEVICE ... serial device name
bash generate_env.bash
# build docker container
docker compose build
# launch container
docker compose upsource /opt/ros/humble/setup.bash
# make ros2 workspace
export COLCON_WS=~/ws
mkdir -p $COLCON_WS/src
# clone cybergear_m5 source
cd $COLCON_WS/src
git clone [email protected]:project-sternbergia/cybergear_m5_ros2.git
cd ../
# build ros2 package
colcon buildBefore launch sample, please write cybergear_m5_bridge.ino to m5 stack.
Please refer cyberger_m5 repository.
Please test simple sample code.
cd $COLCON_WS
source install/setup.bash
# 1dof cybergear position control sample
# you control cybergear via joint_state_publisher_gui
# cybergear can id : 0x7F
ros2 launch cybergear_m5_bringup 1dof_position_sample.launch.xml
# 2dof cybergear position control sample
# you control cybergear via joint_state_publisher_gui
# cybergear_1 can id : 0x7F
# cybergear_2 can id : 0x7E
ros2 launch cybergear_m5_bringup 2dof_position_sample.launch.xmlIf you want to change control parameter, please check config file at cybergear_m5_description/config directory.
2dof_position_sample.launch.xml
- MIT