cullensun/mini_pupper

Mini Pupper Main Repo from 2023

Mini Pupper

Software

Below is a list of repositories where you can find code for your Mini Pupper. Some of these repositories are hosted by MangDang and we make every effort to maintain these repositories. Please open issues on GitHub when you see fit and submit pull requests if you can improve the code.

We are an open community and welcome contributions. If you have written code for Mini Pupper that you want to share please submit a PR to this repo with the details.

We also provide full stacks that come with a setup script that you can run starting with an SD card with Ubuntu installed. Clone this repository, run the setup script for the stack you want to install and wait until the Raspberry Pi reboots. See below for details.

We highlight the Status of the code as follows:

• experimental: this is code in an early stage. Be prepared to debug and discuss if you want to get involved.
• testing: this code should work but expect to hit some bugs.
• working: the code has been tested and supposed to work as intended. You might still find bugs, please consider raising a GitHub issue.
• production: this code is used by many of our users and we encourage you to raise a GitHub issue should you encounter any bug.

Installation

Prepare an SD card with the operating system required for your stack.

Focal: ubuntu-20.04.5-preinstalled-server-arm64+raspi.img.xz is recommended.

https://cdimage.ubuntu.com/releases/20.04/release/

Jammy: ubuntu-22.04.2-preinstalled-server-arm64+raspi.img.xz is recommended.

https://cdimage.ubuntu.com/releases/22.04/release/

Manual Installation

Boot Mini Pupper with your SD card, configure the network, clone this repository and run the setup script for your stack.

Note: It is assumed that the standard user name of Ubuntu installed on the Raspberry Pi is "ubuntu".

Fully Automated Installation (experimental)

Clone this repository on the PC where you have created your SD card. Make sure the SD card is mounted. Run

prepare_sd.py

And answer the questions. At the end, it will show "Flashed cloud-config successfully"
Then eject your SD card, stick it into Mini Pupper, boot Mini Pupper and wait until the IP address is shown on the LCD.
Initial setup on Raspberry Pi takes an hour or more.

You can use lsblk command to check the full path to SD card on Ubuntu, similar to /media/username/system-boot/.

If you are using Windows, run prepare_sd.bat instead of prepare_sd.py.

Hosted by MangDang

Repositories

You will find these repos under https://github.com/mangdangroboticsclub

Repository	Description	Status
mini_pupper_bsp	BSP(board support package) for Mini Pupper.	working
StanfordQuadruped -b mini_pupper	This is a fork of the StanfordQuadruped repository with modification to make it run on Mini Pupper	working
mini_pupper_web_controller	This code provides a web GUI for Mini Pupper running StanfordQuadruped	testing
mini_pupper_ros -b ros1	This code used Champ and ROS1 to control Mini Pupper.	testing
mini_pupper_ros -b ros2	This code used Champ and ROS2 to control Mini Pupper.	experimental

Full Stacks

Name	OS	Description	setup
Stanford	Jammy	Allows to control your Mini Pupper with either a supported PS4 joystick or a Web GUI using the Stanford controller	setup.sh
ROS1	Focal	Run ROS1 on your Mini Pupper. Support for Lidar and OAK-D-Lite is provided	setup.sh
ROS2	Jammy	Run ROS2 on your Mini Pupper.	setup.sh

Contributions

Repositories

Repository	Description	Status
minipupper_kinematics	This repositories contains Jupyter notebook that I used to gain a better understanding of the kinematics of a quadruped robot in general and MangDang Mini Pupper in particular.	experimental
mini-pupper-jupyter-notebooks	ROSCon2022 Jupyter Notebooks for Mini Pupper.	experimental

Full Stacks

Name	OS	Description	setup
ROS1 Jupyter	Focal	ROSCon2022 Jupyter Notebooks for Mini Pupper.	setup.sh