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ROS Integration for our hexapods
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hexapod_bringup
hexapod_description
hexapod_driver
hexapod_ros
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README.md

README.md

hexapod_ros

These packages are for ROS integration for our hexapods.

Packages

Package name description
hexapod_bringup launch file for the hardware interface of Pexod
hexapod_description Xacro for Pexod, as well as relevant launch files for the description
hexapod_driver C++ API to control our hexapods (talks to dynamixel_control through trajectory messages)
hexapod_ros metapackage for the above packages

Important: When this repository is updated, URDF files must be generated and pushed to hexapod_common/hexapod_models.

Dependencies

  • dynamixel_control: Hardware interface for ros_control and the Dynamixels actuators
  • hexapod_common: Its controllers are used by the hexapod_driver package
  • hexapod_ik: inverse kinematics for the legs that allow to control the hexapods in cartesian space

Authors

  • Author/Maintainer: Konstantinos Chatzilygeroudis
  • Other contributors: Dorian Goepp

Packages

hexapod_description

Contains the URDF models of our hexapods. Its launch files take care of generating the URDF from Xacro files and loading it in ROS.

The visuals of these models are made with STL files taken from our CAD designs (see pexod_mechanical_design) and generated from Robotis' models of their own parts (dynamixel actuators and frames).

LICENSE

CeCILL

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