Software for the Pumas Humanoid Robot

This repository contains the software developed for the humanoid robot of the Biorrobotics Lab.

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Getting Started

Prerrequisites

• Ubuntu 20.04
• ROS Noetic (ros-noetic-desktop-full required)
• Gazebo (included in ros-noetic-desktop-full)
• RViz (included in ros-noetic-desktop-full)
• A lot of patience

Installation

 git clone https://github.com/mnegretev/Humanoids.git 
 cd Humanoids
 cd setup/workspace/
 ./SetupDraft.sh
 cd catkin_ws
 catkin_make -j1 -l1

Testing in Desktop

 source devel/setup.bash
 roslaunch surge_et_ambula humanoid_simul.launch

Then, in Gazebo click Play down below.

Testing in Humanoid

source devel/setup.bash
roslaunch surge_et_ambula humanoid_hardware.launch

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Configure remote ssh to Raspberry PI

First Method (Static IP with Router)

To setup a static ip in the raspberry Ethernet port where you can connect to a router, run:

cd setup/raspberry/
sudo cp 01-static-ip.yaml /etc/netplan/01-static-ip.yaml
sudo netplan apply

The static IP is now set to 192.168.0.10. You can now do ssh [email protected] to connect with Ethernet cable directly to the humanoid.

Second Method (Static IP with no router)

If you want to connect directly to Raspberry Pi through Ethernet and share internet at the same time, go to Settings -> Network -> Wired, the open settings. In IPv4 tab, select Shared to other computers

cd setup/raspberry/
sudo cp 01-static-ip.yaml /etc/netplan/02-static-ip.yaml
sudo netplan apply

The static IP is now set to 10.42.0.2. You can now do ssh [email protected] to connect with Ethernet cable directly to the humanoid.