This repository contains a ROS2-based project for a hexapod robot with line following functionality. The project consists of three packages: articubot_one, my_robot_bringup, and hexapod_robot. Each package serves a specific purpose in the overall system.
The articubot_one package contains the URDF files and a launch file to run the hexapod robot model in simulation. This package is responsible for defining the physical structure of the robot and configuring the launch settings for simulation.
The my_robot_bringup package provides a launch file that allows you to run the Python nodes from the hexapod_robot package simultaneously. This package handles the orchestration of the different components of the hexapod robot, enabling you to start all necessary nodes conveniently.
The hexapod_robot package contains the Python node files that define the kinematics of the hexapod robot, implement the line following functionality, and provide a walking movement code. This package forms the core of the project, implementing the robot's behavior and control logic.
To use this project, follow the steps below:
-
Install ROS2 (insert ROS2 installation instructions here). 1.2 Create a ROS2 workspace:
mkdir -p ~/ros2_workspace/src cd ~/ros2_workspace/src -
Clone this repository:
git clone https://github.com/Kar180304/hexapod-line-following.git -
Build the project using colcon:
cd hexapod-line-following colcon build -
Source the setup files:
source install/setup.bash -
Launch the simulation:
ros2 launch articubot_one rsp.launch.py
This command will launch the hexapod robot model in Gazebo, with the line following and walking functionality implemented.
Contributions to this project are welcome! If you have any ideas, improvements, or bug fixes, feel free to submit a pull request. Please ensure that your changes align with the project's coding style and standards.