Skip to content
Kevin Ochs edited this page Apr 24, 2015 · 4 revisions

ROS Hexapod Stack

This is a work in progress of my implementation of a hexapod functioning in the ROS framework. It is still very much a work in progress and I am still actively developing it. Its current capabilities are up to 2D mapping its environment.

Author: Kevin M. Ochs

Contributor: Renée Love

Dependencies

sudo apt-get install ros-indigo-sound-play
sudo apt-get install ros-indigo-diagnostic-updater
sudo apt-get install ros-indigo-xacro
sudo apt-get install ros-indigo-openni2-launch
sudo apt-get install ros-indigo-depthimage-to-laserscan
sudo apt-get install ros-indigo-joystick-drivers
sudo apt-get install ros-indigo-imu-filter-madgwick
sudo apt-get install libusb-1.0-0-dev

Joystick

For pairing a PS3 controller you can either install BlueZ5 or follow the below link.

https://help.ubuntu.com/community/Sixaxis

Install

git clone https://github.com/KevinOchs/ROS_hexapod.git

For PhantomX branch created by Renée Love:

git checkout PhantomX

Pictures

Rviz screenshot of point cloud and laserscan active. ScreenShot

2D room mapping in Rviz. ScreenShot

Renée Love's adaptation of the Hexapod stack for Trossen's PhantomX. ScreenShot

Videos

Click on picture for redirect to YouTube video.

Small video of Golem research platform and IMU testing. ScreenShot

Renée Love's odometry test video using the phantomX. ScreenShot

Clone this wiki locally