H-Robix is a project, consisted in designing, building and programming an hexapod in ROS, with dinamixel servomotors.
local control -- driver y publish and receive data of crr pos of each leg and command position
remote control -- get info of crr pos and do kinematics and gait code in order to calcule the trajectory, besides this in this layer is displayed a RViz window where the robot poses in urdf is shown
the packet ROS organization is the next one, where all the needed packages are contained
Catkin_ws
├── src
│ ├── h_robix_control
│ ├── h_robix_description
│ ├── h_robix_gazebo
│ ├── h_robix_movement
│ ├── h_robix_sh_codes
│ ├── rqt_virtual_joystick
├── devel
├── logs
└── build
aasasasasasa
h_robix_control
├── launch
├── hexapod_motor_driver.launch
├── hexapod_teleoperation.launch
├── msg and srv files
├── hexapod.launch
├── src
├── buttons_handler.py
├── conf_motors.py
├── dinamixel_motor_controllers.cpp
├── pub_crr_motors_data.py
h_robix_description (urdf, params and meshes to run Rviz, Gzebo and get joint info to perform kinematics)
├── launch
├── rviz_visualizer.launch
├── meshes
├── body.stl, coxa.stl, femur.stl, tibia.stl
├── urdf
├── h_robix.urdf.xacro
crr not available, joint controllers not well defined
h_robix_description (urdf, params and meshes to run Rviz, Gzebo and get joint info to perform kinematics)
├── launch
├── rviz_visualizer.launch
├── meshes
├── body.stl, coxa.stl, femur.stl, tibia.stl
├── urdf
├── h_robix.urdf.xacro
h_robix_sh_codes
├── hexapod_network.sh