Repository for the base code and design of the Qutee V2 robot

Setup your Linux environment and Docker.

For Linux, you can choose WSL OR a VM

Allows a linux distro to run directly on a Windows machine. The default distro will be Ubuntu

• Step 1 - WSL install command

  • Open powershell or windows cmd in administrator mode
  • Enter the command, then restart your machine

    wsl --install

For more info: https://learn.microsoft.com/en-us/windows/wsl/install

TBC

• Step 1 - Install Docker Desktop
  • Download docker desktop on Windows (https://www.docker.com/products/docker-desktop/)

• Step 2 - Modify Docker Settings
  • Ensure "Use the WSL 2 based engine" is checked.
  • Go to Settings > Resources > WSL > Enable Integration

For more info: https://learn.microsoft.com/en-us/windows/wsl/tutorials/wsl-containers

• Step 1 - Set Locale

  locale  # check for UTF-8
  
  sudo apt update && sudo apt install locales
  sudo locale-gen en_US en_US.UTF-8
  sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
  export LANG=en_US.UTF-8
  
  locale  # verify settings

• Step 2 - Enable required respositories

  • Enable Ubuntu Universe repository

  sudo apt install software-properties-common
  sudo add-apt-repository universe

  • Add the ROS 2 GPG key with apt

  sudo apt update && sudo apt install curl -y
  sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

  • Add the repository to your sources list

  echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

• Step 3 - Install ROS2

  • Update your apt repository caches after setting up the repositories.

  sudo apt update

  • Make sure system is up to date

  sudo apt upgrade

  • Install ROS2

  sudo apt install ros-humble-desktop

• Step 4 - Setup Environment

  source /opt/ros/humble/setup.bash

• Step 5 - Test

  ros2 wtf

  • Should say "All 5 Checks Passed"

For more info: https://docs.ros.org/en/iron/Installation/Ubuntu-Install-Debians.html

• Step 1

  • In your Linux/Ubuntu VM/Ubuntu App/WSL Powershell, generate SSH key, please keep it out of the repo dir

  ssh-keygen

• Step 2

  • name the generated key anything you want and skip the re-paraphrasing bit
  • this will generate the $name.pub file and the $name, where the later is the private and the former the public key.

• Step 3

  • Request zin-lin on Discord and send your $name.pub file's content.

• Step 4

  • activating your key on Local Linux on your system.

  • eval "$(ssh-agent -s)"
    ssh-add path/to/your/private/file/$name

• Step 5

  • See if your key connection works

  • ssh [email protected]

  • The following will be printed if it does

  • PTY allocation request failed on channel 0
    Hi zin-lin/QuteeAI! You've successfully authenticated, but GitHub does not provide shell access.
    Connection to github.com closed.

• Step 6

  • Allocate where you want the project and pull

  • mkdir qtai
    cd qtai
    git init
    git remote add origin [email protected]:zin-lin/QuteeAI.git
    git pull origin master

The Software for the Qutee Robot will mainly depend on what hardware component is used during the assembly process. Use the Adaptive folder if you are following what adaptive-intelligent-robotics are doing. Otherwise, for simple operations and starting with Robotics you may use any other folder inside software folder. The following are components are for all solutions.

• 12x XL330 m288t or XL330 m077 Motors Dynamixel.
• 1x Adafruit ESP32s3 Reverse Feather TFT Adafruit.
  • Do Not buy the ESP32s3 TFT because we are not sure if that solution will work or not as the Dynamixel2Arduino Library is not transmitting TX channel on said board.
• 1x Dynamixel Shield Dynamixel.
• 1x Dynamixel U2D2 PHB Dynamixel.
• 1x Dynamixel U2D2 Device Dynamixel.
• 1x Arduino Uno Rev 3 Board Arduino.
• 1x Arduino ESP32 Nano Arduino.