This is my implementation of a hexapod functioning in the ROS framework. Agnostic to either a 3dof or 4dof hexapod. It is still very much a work in progress and I am still actively developing it.
Thanks to Shubhankar Das there are two gaits offered, the original sinusoidal tripod gait and a new ripple gait.
- Author: Kevin M. Ochs
- Contributor: Shubhankar Das
- Contributor: Renée Love
- Contributor: Konstantinos Chatzilygeroudis
- Contributor: Kurt Eckhardt
- Contributor: Romain Reignier
- Primesense Sensor, Asus Xtion or Intel Realsense
- IMU (Current master branch uses a Phidgets 3/3/3 Spatial in launch files.)
sudo apt-get install git &&
sudo apt-get install -y ros-melodic-sound-play &&
sudo apt-get install -y ros-melodic-diagnostic-updater &&
sudo apt-get install -y ros-melodic-xacro &&
sudo apt-get install -y ros-melodic-openni2-launch &&
sudo apt-get install -y ros-melodic-depthimage-to-laserscan &&
sudo apt-get install -y ros-melodic-joystick-drivers &&
sudo apt-get install -y ros-melodic-imu-filter-madgwick &&
sudo apt-get install -y ros-melodic-robot-localization &&
sudo apt-get install -y ros-melodic-rtabmap &&
sudo apt-get install -y ros-melodic-rtabmap-ros &&
sudo apt-get install -y ros-melodic-robot-state-publisher &&
sudo apt-get install -y ros-melodic-gazebo-ros-control &&
sudo apt-get install -y ros-melodic-navigation &&
sudo apt-get install -y ros-melodic-navfn &&
sudo apt-get install -y ros-melodic-amcl &&
sudo apt-get install libusb-1.0-0-dev
sudo apt-get install ros-indigo-move_base
Joystick
For pairing a PS3 controller you can either install BlueZ5 or follow the below link.
https://help.ubuntu.com/community/Sixaxis
hexapod_controller
This is the main node of the stack. It handles all control, gait, IK and servo communications with the legs. Minimal latency was required to keep the gait smooth and synced with odometry hence the reason they are all combined in this one node.
Subscribed Topics
cmd_vel (geometry_msgs/Twist) Velocity command.
body_scalar (geometry_msgs::AccelStamped) Scalar to modifiy the orientation of the body.
head_scalar (geometry_msgs::AccelStamped) Scalar to modifiy the pan and tilt of the optional turret.
state (std_msgs::Bool) Bool array to record state of the hexapod. Standing up, sitting etc.
imu/data (sensor_msgs::Imu) Used in optional auto body leveling on non level ground.
Published Topics
sounds (hexapod_msgs::Sounds) Custom message to send sound cues to the optional sound package.
joint_states (sensor_msgs::JointState) Joint states for rviz and such.
odometry/calculated (nav_msgs::Odometry) Calculated odometry from the gait system in the package.
twist (geometry_msgs::TwistWithCovarianceStamped) Twist message syncronized with the gait system.
hexapod_bringup
This package has all the launch files. From simple locomotion only to full mapping and localization examples.
hexapod_description
This package has all the param files. You will start with one of the param config files to describe your hexapod. It also has params for different telop controllers. The xacro and meshes also reside in this package.
Example Launch Command
roslaunch hexapod_bringup hexapod_full.launch config:=phantomX joy_mapping:=joystick_ds3
git clone https://github.com/KevinOchs/hexapod_ros.git .
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
Click on picture for redirect to YouTube video.
Rviz recording of 3D mapping using RTABmap.
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Small video of Golem research platform and IMU testing.
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Renée Love's odometry test video using the phantomX.
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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.
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