CyberDog Unified Repository

A unified ROS2 repository for Xiaomi CyberDog robot, combining hardware and simulation packages.

Overview

This repository merges the original cyberdog_ros2 packages with new simulation capabilities, providing a complete development environment for the CyberDog robot.

Packages

Hardware Packages (from cyberdog_ros2)

• cyberdog_bringup - Launch files and hardware bringup
• cyberdog_ception - Perception (BMS, body state, sensors, detection)
• cyberdog_common - Common utilities, gRPC, vendors
• cyberdog_decision - Decision making and autonomy
• cyberdog_interaction - Human-robot interaction
• cyberdog_interfaces - ROS2 message/service definitions
• cyberdog_motion - Motion control
• tools - Documentation and utilities

Simulation Packages (NEW)

• cyberdog_description - URDF, xacro, and meshes for Gazebo
• cyberdog_gazebo - Gazebo Classic simulation
• cyberdog_locomotion - Locomotion control framework

Requirements

• ROS2 Galactic (Ubuntu 18.04 / Jetson)
• Docker (recommended for development)

Quick Start

Using Docker (Recommended)

# Build the Docker image
docker compose build

# Start the development container
docker compose up -d

# Enter the container
docker compose exec cyberdog-dev bash

# Build the workspace
source /opt/ros/galactic/setup.bash
colcon build --symlink-install

Build from Source

mkdir -p ~/cyberdog_ws/src
cd ~/cyberdog_ws/src
git clone https://github.com/vitorcalvi/cyberdog.git .
cd ..
colcon build --symlink-install

License

Apache 2.0 (from original Xiaomi CyberDog)

Sources

• Original: https://github.com/MiRoboticsLab/cyberdog_ros2
• Fork: https://github.com/vitorcalvi/cyberdog_ros2
• Description reference: https://github.com/legubiao/quadruped_ros2_control