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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.
Gait style is a simple sinusoidal tripod gait. I chose it due to its simplicity and smooth transitions between steps.
Author: Kevin M. Ochs
Contributor: Renée Love
sudo apt-get install git
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
For pairing a PS3 controller you can either install BlueZ5 or follow the below link.
https://help.ubuntu.com/community/Sixaxis
git clone https://github.com/KevinOchs/ROS_hexapod.git
For PhantomX branch created by Renée Love:
git checkout PhantomX
For Raspberry Pi2 please add these compiler optimizations after first build.
[workspace]/build/CMakeCache.txt
Change: CMAKE_CXX_FLAGS:STRING=-O3 -mfloat-abi=hard -mfpu=neon-vfpv4 -mcpu=cortex-a7
For ODROID XU3 please add these compiler optimizations after first build.
[workspace]/build/CMakeCache.txt
Change: CMAKE_CXX_FLAGS:STRING=-O3 -pipe -march=armv7-a -mcpu=cortex-a9 -mfloat-abi=hard
Rviz screenshot of point cloud and laserscan active.
2D room mapping in Rviz.
Renée Love's adaptation of the Hexapod stack for Trossen's PhantomX.
Click on picture for redirect to YouTube video.
Small video of Golem research platform and IMU testing.
Renée Love's odometry test video using the phantomX.
