KR260 leg robota

Booting Kria Starter Kit Linux on KR260

Flash the Kria Starter Kit Linux image into the SD Card (minimum 16GB).

Refer to the KR260 Getting Started Page to flash SD card with an Ubuntu 22.04 image.

sudo add-apt-repository ppa:xilinx-apps --yes &&
sudo add-apt-repository ppa:ubuntu-xilinx/sdk --yes &&
sudo add-apt-repository ppa:xilinx-apps/xilinx-drivers --yes &&
sudo apt update --yes &&
sudo apt upgrade --yes

sudo groupadd docker
sudo usermod -a -G docker  $USER
sudo apt install xrt-dkms

sudo xmutil getpkgs

Build ROS2 code

The entire ros2 process consists of three parts: joystick_ros2 that obtains the USB handle signal. leg_contral_from_joy is a model built using simulink and uses code generation tools to generate embedded code and package it into a ros2 package. It uses the joystick information of the handle to input a quadruped robot's posture inversion function and four position to joint angle conversion functions, one for each leg. These angle information are transmitted using a custom msg format. Finally, send_leg_pos sends the received angle information to the servo motor through the serial port as a torque command.