altair_ws#

Description#

The next-generation altair_ws.

Prerequisites#

Install Jazzy Jalisco:
ROS2 Jazzy Jalisco Installation Guide

Dynamixel SDK:

sudo apt install ros-jazzy-dynamixel-sdk

Docker on Raspberry Pi 5

Cloning the Repository#

Clone the Repository#

git clone https://github.com/Altair-Humanoid-GMRT/altair_ws.git

Then pull the submodules with:

git submodule update --init --recursive --remote

Pulling Commits from the Repository#

git pull --rebase

The --rebase flag avoids creating merge commits, which result in non-linear history. Always use it for straight pulls. If you encounter conflicts (indicated by a big CONFLICT message), edit the mentioned files, run git add on the files, and then use git rebase --continue to proceed.

Installation#

Installation on Linux PC#

Install the dependencies for ROS2:

sudo apt install ros-jazzy-xacro ros-jazzy-rqt ros-jazzy-rviz2 ros-jazzy-yaml-cpp-vendor ros-jazzy-vision-msgs ros-jazzy-nav-msgs ros-jazzy-orocos-kdl-vendor ros-jazzy-joint-trajectory-controller ros-jazzy-joint-state-publisher ros-jazzy-joint-state-publisher-gui ros-jazzy-joint-limits ros-jazzy-interactive-markers ros-jazzy-image-geometry ros-jazzy-imu-sensor-broadcaster ros-jazzy-kinematics-interface ros-jazzy-libyaml-vendor libserial-dev libserialport-dev libserial1 ros-jazzy-examples-rclcpp-minimal-subscriber ros-jazzy-examples-rclcpp-minimal-publisher ros-jazzy-yaml-cpp-vendor

Install the dependencies for ROS2 Control:

sudo apt install ros-jazzy-ros2-control ros-jazzy-hardware-interface ros-jazzy-forward-command-controller ros-jazzy-filters ros-jazzy-controller-manager ros-jazzy-controller-manager-msgs ros-jazzy-control-toolbox ros-jazzy-controller-interface ros-jazzy-ros2controlcli ros-jazzy-ros2component ros-jazzy-pid-controller ros-jazzy-joint-state-broadcaster ros-jazzy-gz-ros2-control ros-jazzy-ros-gz-sim

Install the dependencies for MoveIt2:

sudo apt install ros-jazzy-moveit ros-jazzy-rmw-cyclonedds-cpp ros-jazzy-cyclonedds ros-jazzy-moveit-ros-control-interface ros-jazzy-ompl

Change the ROS_DOMAIN_ID and RMW to CycloneDDS:

echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> ~/.bashrc &&
echo "export ROS_DOMAIN_ID=96" >> ~/.bashrc

Configure the USB port:

sudo cp 99-dynamixel.rules /etc/udev/rules.d && sudo cp 99-usb-microcontroller.rules /etc/udev/rules.d &&
sudo udevadm control --reload-rules && sudo udevadm trigger

Build the project (only some packages, as the rest are still in development):

colcon build --packages-select dynamixel_workbench_toolbox dynamixel_msgs altair_description altair_moveit_config biped_interfaces altair_msgs ros2_python_extension dynamixel_hardware bio_ik rot_conv altair_splines microcontroller_hardware_v3 quintic_walk --executor sequential

Ready to walk!
Optional instruction

Creating alias for command colcon build --packages-select as only
```
echo "alias only='colcon build --packages-select'" >> ~/.bashrc
```

Installation on Raspberry Pi 5 with Docker#

Build the image (this will take some time):
```
docker build -t altair_ws .
```
Run the compose:
```
docker compose up -d
```
Interact with the Docker container:
```
docker exec -it altair_ws /bin/bash
```
Build the project as described in the previous method.

Usage#

Configuring the Robot
Use the configure.py file located in the workspace. It provides a one-step gateway to change the config file all at once. Run it using:

python3 configure.py

or:

./configure.py

Available options:

options:
  -h, --help            show this help message and exit
  --real, -r            Set real_mode
  --mock, -m            Set mock_mode
  --sim, -s             Set sim_mode (also affects use_sim_time)
  --tuning {true,false}, -t {true,false}
                        Set tuning_mode
  --hardware-unavailable {true,false}, -w {true,false}
                        Set hardware_unavailable
  --dynamixel-port DYNAMIXEL_PORT
                        Set Dynamixel port
  --dynamixel-baudrate DYNAMIXEL_BAUDRATE
                        Set Dynamixel baudrate
  --stm32-port STM32_PORT
                        Set STM32 port
  --stm32-baudrate STM32_BAUDRATE
                        Set STM32 baudrate

Launch the System

ros2 launch altair_moveit_config move_group.launch.py

ros2 launch quintic_walk controller.launch.py

Running on Gazebo Simulation#

Preview of how to launch the Gazebo Simulation: YouTube Video

ros2 launch altair_moveit_config move_group.launch.py

ros2 launch quintic_walk altair_gazebo.launch.py

A gazebo sim window and new terminal window to manage the gazebo sim like reset, and pause the simulation will show up.

Running the Project#

TODO: Create a bringup launch file.

Contributing#

If you would like to contribute, please fork the repository or create a new branch. Pull requests are warmly welcome.

Acknowledgments#

Hat tip to anyone whose code was used.
Thanks to alfarobi_ws for the inspiration.
Thanks to Bitbots for the inspiration.

TODO#

Add odometry fuser.
Add motion sequence for standing up.
Add a way to show errors and pass them to the microcontroller screen.
Add BehaviorTree as robot strategy.

altair_ws

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