SOFTLEG — Setup Guide

1. Launch the Interface

1. Connect to the Wi-Fi network:
   SSID: softleg_wifi
   Password: 1234567890

2. Open a terminal and connect via SSH:

   ssh mulsbc@192.168.88.1

   Password: 123456

3. Switch to superuser:

   sudo su

   Password: 123456

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2. Restart Chrony Service

sudo systemctl restart chrony.service

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3. Set Up the ROS Environment

cd mulsbc_ws/
source /opt/ros/humble/setup.bash
source install/setup.bash
export ROS_DOMAIN_ID=13

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4. Check Chrony Synchronization

chronyc sources

If there is no asterisk (*) next to a source, it means synchronization is not active.
To fix this:

1. Search for CHRONY settings:

   Ctrl + R

   Type: chrony

2. Edit the Chrony configuration file:

   sudo nano /etc/chrony/chrony.conf

3. Modify the network according to the output of ip a.
   Make sure you do this on both terminals (the mulsbc one is the Raspberry Pi).

   On the Raspberry Pi, omit the “/..” part.

4. Restart the Chrony service:

   sudo systemctl restart chrony.service

✅ Chrony setup complete.

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5. Launch the MJBots Interface

ros2 launch pi3hat_hw_interface start_MJBots_Pi3Hat_hw_Interface.launch.py urdf_file:=softleg_jump.urdf.xacro conf_file:=2D_Leg.yaml

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6. Shutdown Raspberry Pi

sudo shutdown now

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🧪 FATIGUE TEST SETUP

Open a new terminal on your local machine:

cd <your_workspace>
source /opt/ros/humble/setup.bash
source install/setup.bash
export ROS_DOMAIN_ID=13

ros2 launch fatigue_test launch_fatigue_test.py

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📊 PLOTJUGGLER VISUALIZATION

Open another terminal:

cd <your_workspace>
source /opt/ros/humble/setup.bash
source install/setup.bash
export ROS_DOMAIN_ID=13

ros2 run plotjuggler plotjuggler

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🎥 Q-ANALYSIS (QUALISYS) — monkey level

1. Network Setup

• Connect via Ethernet to the “Vicone” network through the switch.
• If the camera doesn’t connect, unplug and reconnect its power cable.

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2. Launch the Qualisys Driver

cd <your_workspace>
source /opt/ros/humble/setup.bash
source install/setup.bash
export ROS_DOMAIN_ID=13

ros2 launch qualisys_driver qualisys.launch.py

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3. Visualize in PlotJuggler

• Open PlotJuggler
• Select the topic: /Rgod Bodies
• The body of interest is Body 7