Working on open Quadrupeder (teensy 4.0) How-to?!

[FOUCAULT Vincent]

Hi.
Champ simulations 👍

Now real-time.
Working on Jetson, connected to Adham/Maurice/Mano board (open quadrupeder/spotmicroAI) , containing a teensy 4.0.

Teensy is rosserial ready (Maurice Rahme firmware /moribot)

Do I just need to run the next lines, to be able to use your package on my Dog?

<!-- Sensor Interface Node -->
<node pkg="rosserial_python" type="serial_node.py" name="serial_node">
    <param name="port" value="/dev/ttyS0"/> <!-- HW Serial -->
    <param name="baud" value="500000"/>  <!-- must match Teensy -->
  </node>

Thanks a lot.

Vincent.

[Juan Miguel Jimeno]

HI Vincent,

I’m not sure on Open Quadruped’s firmware but these guidelines might help you setup your real robot: https://github.com/chvmp/champ/wiki/Hardware-Integration.

What I would recommend is to write direct comms interface between your Teensy and Linux Machine.

[Quothd]

On the Jetson, you need to specify the serial port as: