PreampV3

Getting started

The robot uses ROS2 (Robot Operating System 2). Read the ROS2 wiki!. Tutorials and how-to guides are worth to check.

Read also controller documentation to understand why certain controllers are needed and how they control the motion. Here are ros2 control demo repositories and more documentation about controllers.

Quick start

SOP-Robot uses Pixi to install ROS 2 Humble, Python packages, and build tools into a local .pixi/ environment.

sudo apt update
sudo apt install -y git curl espeak
curl -fsSL https://pixi.sh/install.sh | bash
git clone --recurse-submodules https://github.com/ouspg/SOP-Robot.git
cd SOP-Robot
pixi run setup-runtime
pixi run build
pixi run robot-fake

Setting up Lehmus AI api key:

cp .env.example .env.local

LLM_API_KEY=your lehmus ai api key goes here

For real Dynamixel hardware, install the U2D2 udev rule once:

pixi run setup-udev

The launch tasks source install/local_setup.bash for you. If you enter pixi shell for manual ROS commands, source the overlay first:

source install/local_setup.bash

Launch the complete demo from one terminal with pixi run robot-demo-fake for simulation or pixi run robot-demo-real for real hardware. Press Ctrl+C in that terminal to stop the stack. See Robot bring-up for individual components and logging options.

The Robot

The robot uses dynamixel servos. Servos are controlled via the robot_hardware ROS node, which implements the hardware interface for ros2_control. robot package contains the servo controller configurations for the robot. See robot.yaml, for example. The head supports joint_trajectory_controller. When using this controller, joints can be controlled by sending action messages to the trajectory controller. See bring up for an example of action message.

Joint -> Servo mappings are defined in two files. Configuration file connects servo ID with certain joint. dynamixel_arm.yaml is for servos of robot arm and dynamixel_head.yaml for servos of head.

Project structure

• client - contains client to send actions for robot hand
• config - dynamixel servo configuration
• src - all packages
  • src/face_tracker - tracks the faces using camera feed and calculates locations and distances of faces and detects mouth movement.
  • src/inmoov_description - robot files, which define the robot geometry and configuration for simulation (URDF, SRDF & rviz configuration)
  • src/robot - robot launch files & servo controller configurations
  • src/robot_hardware - hardware interface for ros2_controller, communicates with U2D2 via dynamixel workbench
  • src/tts_package - Text-to-speech package for finnish speech synthesis
  • src/sst_package - Speech-to-text package for finnish speech recognition
  • src/llm_package - OpenAI client package used for using llm model with Lehmus AI API
  • src/unified_arms- unified node for controlling arms thought serial and hands with topics
  • src/full_demo - Main control node for the robot

While the robot is idle, full_demo_node selects an arm action every 120 seconds by default: a randomized arm-and-hand action 70% of the time, or one of wave, rock, rotate, and swingarms 30% of the time. The random action is implemented by unified_arms_node and runs for 40-60 seconds using the original randomized joint ranges. It does not command the head. The interval can be changed with the random_gesture_interval parameter on full_demo_node.

Servo Table

Note: Servos can be configured using Dynamixel Wizard 2.0

Baud rate: 57600, Voltage: 7.5

Note: You can use Dynamixel Wizard 2.0 to check that servos have enough voltage to operate normally.

Cautions

Note: head tilt range of motion is poor

Note: wrist joint seems to overload very easily

• Reason for this detected during inspection of the mechanical assembly. The hand is installed wrong way to the wrist.

Note: servo angle limits are not configured

Note: Be careful not to move joints too much, limits are not set yet

Next steps

1. See Development
2. See Robot bring-up