ECE598JK Assigment 4 Instructions

For this assignment you will be working in the following files.

• ~/ws_mini_assn4/src/mini_ros/scripts/measured_zmp.py
• ~/ws_mini_assn4/src/mini_ros/scripts/approx_zmp_multi_mass.py
• ~/ws_mini_assn4/src/mini_ros/scripts/approx_zmp_single_mass.py
• ~/ws_mini_assn4/src/mini_ros/config/walkingParam.yaml
• ~/ws_mini_assn4/src/mini_ros/scripts/ball_detection.py

Implement the parts of the code marked TODO in each file and follow the instructions listed in the code and instruction pdf. The starter code setup and commands to run the simulation and hardware are outlined below.

ZMP Walking Simulation Setup

Clone mini-ros-assn4 repo from Github

Create a new workspace for assignment 4 as the code structure has changed from the previous assignment.

mkdir -p ~/ws_mini_assn4/src && cd ~/ws_mini_assn4/src
git clone https://github.com/uiuckimlab/mini-ros-assn4.git

Install dependency

sudo apt-get install ros-noetic-dynamixel-toolbox

Make using catkin and source ros workspace env

cd ~/ws_mini_assn4 && catkin_make

Terminal A: launch simulator and ros controller nodes

cd ~/ws_mini_assn4 && source devel/setup.bash && roslaunch mini_ros sim_bringup.launch

Start the simulation by clicking the play button on the botton left of the Gazebo UI.

Terminal B: start sensors.launch that start the below nodes. Note that you will need to rerun this launch file whenever you make changes to the zmp and perception scripts.

• rviz node
• com calc + viz node
• odometry node (mini_ros/scripts/odom.py)
• approx zmp calc + viz node (mini_ros/scripts/approx_zmp.py)
• measured zmp calc + viz node (mini_ros/scripts/measured_zmp.py)
• ball_detection node (mini_ros/scripts/ball_detection.py)

cd ~/ws_mini_assn4 && source devel/setup.bash && roslaunch mini_ros sensors.launch

ZMP Walking Simulation

Set is_sim to True in walkingParams.yaml

1) Run zmp walking motion without IMU feedback

Set all stabilizer gains to 0 in walkingParams.yaml

cd ~/ws_mini_assn4 && source devel/setup.bash && roslaunch mini_ros walking.launch 

2) Walking motion with IMU feedback

Find and set optimal stabilizer gains params in walkingParams.yaml

cd ~/ws_mini_assn4 && source devel/setup.bash && roslaunch mini_ros walking.launch 

3) Walking motion with Camera + IMU feedback

Set use_perception to True in walkingParams.yaml

cd ~/ws_mini_assn4 && source devel/setup.bash && roslaunch mini_ros walking.launch 

ZMP Walking Hardware Setup

1) SSH to orangepi and setup starter code in hardware

ssh mini@{ORANGEPI_IP_ADDRESS} 
mkdir -p ~/ws_mini_assn4/src && cd ~/ws_mini_assn4/src
git clone https://github.com/uiuckimlab/mini-ros-assn4.git

2) Add CATKIN_IGNORE

The ros workspace in orangepi cannot catkin_make with gazebo related dependencies. Make it ignore the mini_ros_gazebo repo by adding an empty CATKIN_IGNORE file.

touch ~/ws_mini_assn4/src/mini-ros-assn4/mini_ros_gazebo/CATKIN_IGNORE

cd ~/ws_mini_assn4 && catkin_make

Change walkingParam.yaml

Set use_sim to False and use_perception to True in walkingParams.yaml

3) Bringup hardware control nodes

Terminal A: launch hw and ros controller nodes

cd ~/ws_mini_assn4 && source devel/setup.bash && roslaunch mini_ros hw_bringup.launch imu:=true camera:=true

4) Run walking motion with Camera + IMU feedback

cd ~/ws_mini_assn4 && source devel/setup.bash && roslaunch mini_ros walking.launch

ROS Setup and Tips

Install ROS Noetic

sudo apt-get update
sudo apt-get upgrade
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt install curl # if you haven't already installed curl
sudo apt update
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update
sudo apt install ros-noetic-desktop-full

Install tools and setup env paths

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
sudo rosdep init
rosdep update

Install Terminator

sudo apt install terminator

VScode

sudo snap install code --classic
code ~/ws_mini_assn4/src/mini-ros-assn4

Install dependencies

sudo apt-get install ros-noetic-dynamixel-sdk \
    ros-noetic-ros-control \
    ros-noetic-ros-controllers \
    ros-noetic-rqt-joint-trajectory-controller \
    ros-noetic-plotjuggler-ros

sudo apt install python3-pip
pip3 install urdf_parser_py scipy

Analyze data with PlotJuggler

cd ~/ws_mini_assn4 && source devel/setup.bash && rosrun plotjuggler plotjuggler

Streaming -> ROS Topic Subscriber -> Add topics of interest

robotis_mini/joint_states/l_ankle_joint/position
/l_foot_Fz and /l_foot_Fz

right click on plot -> split vertically -> apply filter to data

Graph of ros nodes and topics

rosrun rqt_graph rqt_graph

Hide Debug, Unreachable, and Params

Control individual joints with ros_control GUI

rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller

controller manager ns -> /robotis_mini/controller_manager controller -> full_body_controller click power button and set speed scaling to 100%

Setting up Rviz Visualization Config

rosrun rviz rviz

• Global Fixed Visualization Frame
• RobotModel
• TF
• Marker
• Camera

Place object in from of the mini in Gazebo World

Record and play back rosbag

rosbag record -O robotis_mini_demo.bag l_foot_Fz r_foot_Fz robotis_mini/joint_states
rosbag info robotis_mini_demo.bag
rosbag info -y -k duration robotis_mini_demo.bag
rosbag play robotis_mini_demo.bag
rostopic echo -b robotis_mini_demo.bag -p /joint_states robotis_mini_demo.csv

Exploring RQT tools

rqt

• Topics
  • Message publisher
  • Topic Monitor
• Visualization
  • Plot
  • TF Tree
  • Image View
• Other
  • Bag
  • rqt_joint_trajectory_controller
  • Dynamic reconfigure
  • Process monitor
  • Message Type Browser