Cyberdog Utils

Realsense depth image centroid follower

When the height is set to 28cm and the gait set to trot, the dog will bark and enter following mode

How to build

on your dog:

mkdir -p ~/ros2_ws/src && cd ~/ros2_ws
git clone https://github.com/linzhibo/Cyberdog_utils.git src/cyberdog_utils
colcon build --merge-install --install-base /opt/ros2/cyberdog
sudo cp src/cyberdog_utils/config/cyberdog_follower.service /etc/systemd/system
sudo systemctl enable cyberdog_follower.service 

Restart your dog.

Recommanded tools

vscode + ssh extension

Generate wav file to replace the ugly one

• Dependencies

pip install baidu-aip

cd scripts
python3 csv_2_wav.py

the wav files will be generated by data/wav folder

scp ../data/wav/* mi@192.168.3.86:/opt/ros2/cyberdog/data/wav/

replace ip, reboot the robot.

Video demo

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