README.md

cybergear_m5_ros2

ROS2 package for Xiaomi Cybergear.

Warning

Xiaomi Cybergear can generate high torque, so please make control parameter adjustments at your own risk.

Dev Environments

• Host OS

  • ubuntu 20.04

• Applciations

  • Docker : docker-ce 24.0.6
  • Container OS : Ubuntu 22.04
  • Middleware : ROS2 (humble)

How to build dev-environments

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 up

Build from source

source /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 git@github.com:project-sternbergia/cybergear_m5_ros2.git
cd ../

# build ros2 package
colcon build

Prepare M5 stack

Before launch sample, please write cybergear_m5_bridge.ino to m5 stack. Please refer cyberger_m5 repository.

How to run sample bridge node

rviz2 samples (joint_state_publisher_gui samples)

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.xml

If you want to change control parameter, please check config file at cybergear_m5_description/config directory.

2dof_position_sample.launch.xml

LICENSE

• MIT

References

• cybergear_m5