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Xiaomi CyberDog ROS 2

License

CyberDogDog

Introduction

This project contains the main ROS 2 packages of Xiaomi CyberDog®.

Basic Information

  • The default user of CyberDog is mi, default password is 123
  • You can use a USB cable to connect to the Download interface, and use ssh [email protected] to connect to CyberDog for internal operations

Software Architecture

Most of the robot applications are implemented based on ROS -As shown in the architecture diagram, it includes functions such as multi-device connection, multi-modal perception, multi-modal human-computer interaction, autonomous decision-making, localization, navigation, and target tracking. Currently, the DDS middleware in use is Cyclone DDS, and the ROS 2 Package is implemented at Galactic.

Due to NVIDIA only provides support for Ubuntu 18.04 for the Jetson series (202109) as yet, we have adapted and modified ROS 2 for Ubuntu 18.04. The specific modification content can be pulled through mini.repos. We have removed some unnecessary repositories, and added some repositories that need to be used.

The documentation of this project is in the root directory of each submodule. If necessary, read this page.

Precondition

If you are directly compiling on the target device, you need to ensure that you have connected to the Internet. The preferred environment is CyberDog, and the second choice is the Docker development environment.

If the former, you need to ensure that the following instructions are executed:

$ apt-get update
$ apt-get install nvidia-l4t-jetson-multimedia-api cuda-compiler-10-2

If the latter, you can consider using arm64's Docker. We will support cross compilation in the future.

Build & Deploy

This project supports two construction strategies:

  • Minimal package: Only compile the relevant packages that affect the startup and motion of the whole machine.
  • Basic package: Compile all packages of this repository(cyberdog_ros2).

Minimal Package

Building process:

  • Download cyberdog_ros2.
$ mkdir -p ros_apps/src
$ cd ros_apps/src
$ git clone https://github.com/MiRoboticsLab/cyberdog_ros2.git
$ cd ..
  • Use --packages-up-to to compile(Ensure the ROS 2 environment is sourced)
$ colcon build --merge-install --packages-up-to cyberdog_bringup

Or, compile to the specified directory. Note: If necessary, please replace /opt/ros2/cyberdog with your path.

$ export OUTPUT_DIR=/opt/ros2/cyberdog
$ colcon build --merge-install --install-base $OUTPUT_DIR --packages-up-to cyberdog_bringup

Basic package

Building process:

  • Download cyberdog_ros2.
$ mkdir -p ros_apps/src
$ cd ros_apps/src
$ git clone https://github.com/MiRoboticsLab/cyberdog_ros2.git
$ cd ..
  • Compile all packages (Ensure the ROS 2 environment is sourced)
$ colcon build --merge-install

Or, compile to the specified directory. Note: If necessary, please replace /opt/ros2/cyberdog with your path.

$ export OUTPUT_DIR=/opt/ros2/cyberdog
$ colcon build --merge-install --install-base $OUTPUT_DIR

In addition, some closed-source function packages provided by Xiaomi: Xiaoai support default not open, you need to add -DXIAOMI_XIAOAI=ON after --cmake-args respectively turn on the building of the two functions.

General deployment method

If you use the /opt/ros2/cyberdog path to compile and the environment is cyberdog, restart the machine or service to complete the deployment.

To restart the service:

$ sudo systemctl restart cyberdog_ros2.service

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