Subwoofer

Subwoofer is a bipedal robot modelled after robots like Boston Dynamics' Spot and the Unitree go. The version made has been given the name spotmicro, and the original designs can be found here.

Usage

The Aber Robotics Club's subwoofer is currently ran on a raspberry pi running ROS2 Humble. Login for this pi is (ip: 192.168.4.1, username: ubuntu, password: rootroot). The ros2 workspace is located in the ubuntu home directory.

Setup

Installation

1. Create a ROS2 Humble workspace.
2. Clone this git repository into the src directory.
3. Build and source the subwoofer_interfaces package.
4. Build the remaining packages.

Face detection setup

In face_detection_launch.xml, make sure the cascade file is properly linked for face detection.

Servos

Leg	Joint	ID	Standing
Front Left	Hip	05	140
Front Left	Upper	02	130
Front Left	Lower	00	070
Front Right	Hip	04	105
Front Right	Upper	03	078
Front Right	Lower	01	132
Back Left	Hip	07	090
Back Left	Upper	13	100
Back Left	Lower	15	048
Back Right	Hip	06	110
Back Right	Upper	12	179
Back Right	Lower	14	110

Robot model

The robot model meshes are borrowed from the microspot project, and recoloured to match the team's printed version. A license for the original files can be found in subwoofer_model/meshes.