Vision-Cheetah

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MIT mini CHeetah Vision

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### MIT Cheetah 视觉规划

[参考1: MIT Cheetah](https://github.com/mit-biomimetics/Cheetah-Software)

[参考2: Cheetah-Software-Vision](https://github.com/AWang-Cabin/Cheetah-Software-Vision)

# Cheetah-Software-Vision
![Mini_on_stairs](https://user-images.githubusercontent.com/69251304/119980322-b4b7d400-bfee-11eb-9942-0f10758e8b6b.png)
This repository contains the Robot and Simulation software project.  For a getting started guide, see the documentation folder.

The common folder contains the common library with dynamics and utilities
The resources folder will contain data files, like CAD of the robot used for the visualization
The robot folder will contain the robot program
The sim folder will contain the simulation program. It is the only program which depends on QT.
The third-party will contain *small* third party libraries that we have modified. This should just be libsoem for Cheetah 3, which Pat modified at one point.

## Load Map
Although real time height map is also available in this project, I use a saved stairs height map as the example. If you are interested in real time mapping and locomotion, you can develop your own cheetah on this project.

To load height map and traversability score map, you need to use a ROS repository named [camera_heightmap](https://github.com/AWang-Cabin/camera_heightmap.git)
```
cd catkin_ws
catkin_make
roslaunch camera_heightmap hsload.launch
```

## Build
To build all code:
```
mkdir build
cd build
cmake ..
./../scripts/make_types.sh
make -j4
```

If you are building code on your computer that you would like to copy over to the mini cheetah, you must replace the cmake command with
```
cmake -DMINI_CHEETAH_BUILD=TRUE
```
otherwise it will not work.  If you are building mini cheetah code one the mini cheetah computer, you do not need to do this.

This build process builds the common library, robot code, and simulator. If you just change robot code, you can simply run `make -j4` again. If you change LCM types, you'll need to run `cmake ..; make -j4`. This automatically runs `make_types.sh`.

To test the common library, run `common/test-common`. To run the robot code, run `robot/robot`. To run the simulator, run `sim/sim`.

Part of this build process will automatically download the gtest software testing framework and sets it up. After it is done building, it will produce a `libbiomimetics.a` static library and an executable `test-common`.  Run the tests with `common/test-common`. This output should hopefully end with

```
[----------] Global test environment tear-down
[==========] 18 tests from 3 test cases ran. (0 ms total)
[  PASSED  ] 18 tests.
```
## Run simulator
To run the simulator:
1. Open the control board
```
./sim/sim
```
2. In the another command window, run the robot control code
```
./user/${controller_folder}/${controller_name} ${robot_name} ${target_system}
```
Example)
```
./user/JPos_Controller/jpos_ctrl 3 s
```
3: Cheetah 3, m: Mini Cheetah
s: simulation, r: robot

## Run Mini cheetah
1. Create build folder `mkdir mc-build`
2. Build as mini cheetah executable `cd mc-build; cmake -DMINI_CHEETAH_BUILD=TRUE ..; make -j`
3. Connect to mini cheetah over ethernet, verify you can ssh in
4. Copy program to mini cheetah with `../scripts/send_to_mini_cheetah.sh`
5. ssh into the mini cheetah `ssh user@10.0.0.34`
6. Enter the robot program folder `cd robot-software-....`
7. Run robot code `./run_mc.sh`

## Dependencies:
- Qt 5.10 - https://www.qt.io/download-qt-installer
- LCM - https://lcm-proj.github.io/ (Please make it sure that you have a java to let lcm compile java-extension together)
- Eigen - http://eigen.tuxfamily.org
- `mesa-common-dev`
- `freeglut3-dev`
- `libblas-dev liblapack-dev`

To use Ipopt, use CMake Ipopt option. Ex) cmake -DIPOPT_OPTION=ON ..

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