Pupper V3 Codebase

Deploying to real robot

Follow instructions here https://pupper-v3-documentation.readthedocs.io/en/latest/guide/software_installation.html to flash your Raspberry Pi 5 with our custom image.

Deploying to simulated robot on development machine (x86 Ubuntu 24)

Install

sudo apt install git-lfs
git lfs install
git clone https://github.com/Nate711/pupperv3-monorepo.git --recurse-submodules
./install_dev_dependencies.sh

Build

cd ros2_ws
source build.sh

Docs

Please see the docs!

Notes

• Camera FPS is 10hz by default. Adjustable in ros2_ws/src/neural_controller/launch/config.yaml with the FrameDurationLimits: [100000, 100000] parameter

Development

Adding animations

1. Hold L1 until BAG status icon turns green to indicate mcap bag recording in process
2. Move Pupper through desired motion
3. Press R1 to stop recording
4. View recorded mcap file in foxglove to verify animation
5. Move bag to pupperv3-monorepo/bags
6. On the robot use scripts/mcap_to_csv.py [path_to_mcap] -s ABSOLUTE_START_TIME -e ABSOLUTE_END_TIME to convert to csv
7. Copy csv to ros2_ws/src/animation_controller_py/launch/animations
8. Rebuild ros2 workspace with ./build.sh
9. Update pupster.py with animation nickname
10. If editing animation frame rate or fade time, make sure to edit both config.yaml and pupster.yaml

Camera

Launch mock camera and detection nodes so you can experiment with vision with simulated robot

ros2 launch hailo detection_with_mock_camera_launch.py

Launch Foxglove bridge so you can see detections in Foxglove studio

ros2 run foxglove_bridge foxglove_bridge