This repo contain source for ROS powered hexapod robot named Goliath.
Robot has 6 legs, each 3DOF. A robot can see (soon :) ) using a web camera. I want that Goliath to detect and chase my cat with help of computer vision, it will be fun ;).
goliath_bringup
Contain launcher and config files.
goliath_description
Contain STL 3d models of robot parts and XML description.
goliath_motion
Cpp Source Code! Convert command from teleop controller (legs, body, gait control) to signals for motors driver.
goliath_msgs
My custom messages for ROS topics.
goliath_simulation
Cpp Source Code! Auxiliary stuff for simulation and visualization, such as servo-motors emulator.
goliath_teleop
Cpp Source Code! Sends commands based on keystrokes on the keyboard.
Robot 3d model screen
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Video with visualization of a robot.
