This project contains the main ROS 2 packages of Xiaomi CyberDog®.
mi
, default password is 123
Download
interface, and use ssh mi@192.168.55.1
to connect to CyberDog for internal operationsMost 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.
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.
This project supports two construction strategies:
Building process:
cyberdog_ros2
.$ mkdir -p ros_apps/src
$ cd ros_apps/src
$ git clone https://github.com/MiRoboticsLab/cyberdog_ros2.git
$ cd ..
--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 $OUTPUT_DIR --packages-up-to cyberdog_bringup
Building process:
cyberdog_ros2
.$ mkdir -p ros_apps/src
$ cd ros_apps/src
$ git clone https://github.com/MiRoboticsLab/cyberdog_ros2.git
$ cd ..
$ 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.
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
Go through the page CONTRIBUTING.md to learn how to contribute to CyberDog!
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