Hopper Rust

Rewrite of Hopper's body controller and kinematics unit in Rust

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Click here to see live CAD model!

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Hopper (Named after Grace Hopper) is a 3D printed hexapod robot running on ROS.
It's brain is a Raspberry Pi 3 running Ubunut Xenial with ROS Kinetic Slowly porting into pure Rust.
The platform is modeled and 3D printed by me and is still a work in progress. It's heavily inspired by PhantomX Hexapod from Trossen robotics

CAD design files can be found here
They may be outdated. If you'd like current file you can email me here

Dependencies

In case build fails with alsa-sys build stepa you want to install dev dependencies for alsa.
On debian the package is called libasound2-dev.

You may also need libssl-dev depending on which ssl library you are using.
And libudev - libudev-dev on Ubuntu

sudo apt install libssl-dev libasound2-dev libudev-dev -y


# camera
sudo apt install libv4l-dev libclang-dev -y

Audio on raspberry pi

depending on if you are running as user or system you'll want to have the following config

pcm.!default {
    type hw
    card 1
}
ctl.!default {
    type hw
    card 1
}

either in ~/.asoundrc or /etc/asound.conf

Configuring walking over Zenoh

z_put -k "hopper/command/simple/walking_config" --connect tcp/hopper:7447 -v "max_step_distance_m: 0.03"
z_put -k "hopper/command/simple/walking_config" --connect tcp/hopper:7447 -v "step_time_ms: 400"

z_sub -k hopper/status/simple/walking_config --raw --connect tcp/hopper:7447

z_sub -k hopper/tracing/full --raw --connect tcp/hopper:7447