mini-pupper-jupyter-notebooks

Jupyter Notebooks for Mini Pupper

• Jupyter Notebooks to control Mini Pupper
• Dockerfiles to launch Jupyter Noteobooks with RoboStack/jupyter-ros

ROSCon2022 Mini Pupper workshop slide: https://docs.google.com/presentation/d/1blwnOdjrrUGisGahi4SSabyXjQmaVHE_ntHNChsot48/edit?usp=sharing

LiDAR Scan Visualization	Object Following

Requirements

• Mini Pupper
  • with Raspberry Pi 4
    • Ubuntu 20.04 required
    • ROS Noetic required
      • ros-noetic-rosbridge-server, ros-noetic-tf2-web-republisher is required for this project
    • 6GB or more free space in storage required to save docker image (32GB SD-card recommended)
  • with LD06 LiDAR (optional)
  • with Camera (optional)
    • USB Web Camera and OAK-D-Lite are both OK
• Laptop
  • Google Chrome required (not tested on other browsers)
  • SSH Client

NOTE: ROS setup for laptop is not required for this tutorial

Architecture

Installation

1. Install Ubuntu 20.04 64bit version

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

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

2. Install Mini Pupper base package

Follow the official document.
https://github.com/mangdangroboticsclub/mini_pupper_bsp

3. Install ROS packages

Install ROS.

git clone https://github.com/Tiryoh/ros_setup_scripts_ubuntu.git
cd ros_setup_scripts_ubuntu
./ros-noetic-ros-base.sh

Install ROS package for this project.

sudo apt install ros-noetic-rosbridge-server ros-noetic-tf2-web-republisher

Install ROS packages for Mini Pupper.
Follow mini_pupper_ros official document.
https://github.com/mangdangroboticsclub/mini_pupper_ros

NOTE: ROS setup for laptop is not required for this project.

4. Install docker

sudo apt install docker.io
sudo usermod -aG docker $USER

If you need the latest docker, follow the official document.
https://docs.docker.com/engine/install/ubuntu/#install-using-the-convenience-script

5. Prepare this project

Download this project with git clone command.

cd ~/dev/
git clone https://github.com/Tiryoh/mini-pupper-jupyter-notebooks.git

6. Prepare docker image

There are 2 ways to prepare docker image.
Using pre-built image is easier.

A. Download the pre-built image (recommended)

docker pull ghcr.io/tiryoh/conda-jupyter-ros:noetic

B. Build docker image (optional)

cd ~/dev/mini-pupper-jupyter-notebooks/docker/conda-jupyter-ros
./build.sh

Usage

Login Mini Pupper's Raspberry Pi via SSH and run run.sh.

cd ~/dev/mini-pupper-jupyter-notebooks
./run.sh

After starting the run.sh, it shows JupyterLab token. Access $IP_ADDRESS:8888 from the laptop via web browser and input the token.
For example, if the IP address of the Raspberry Pi is 192.168.10.12, access http://192.168.10.12:8888.

mini_pupper_object_following_demo_1.mp4

License

MIT License