Awesome
<a href="https://107-systems.org/"><img align="right" src="https://raw.githubusercontent.com/107-systems/.github/main/logo/107-systems.png" width="15%"></a>
:floppy_disk: l3xz_gait_ctrl
Gait controller for the L3X-Z electric/hydraulic hexapod robot.
<p align="center"> <a href="https://github.com/107-systems/l3xz"><img src="https://raw.githubusercontent.com/107-systems/.github/main/logo/l3xz-logo-memento-mori-github.png" width="40%"></a> </p>Literature
How-to-build
cd $COLCON_WS/src
git clone https://github.com/107-systems/l3xz_gait_ctrl_gait_ctrl
cd $COLCON_WS
source /opt/ros/humble/setup.bash
colcon build --packages-select l3xz_gait_ctrl
How-to-run
cd $COLCON_WS
. install/setup.bash
ros2 launch l3xz_gait_ctrl gait_ctrl.py
Interface Documentation
Subscribed Topics
| Default name | Type |
|---|---|
/l3xz/cmd_vel_robot | geometry_msgs/Twist |
/l3xz/ctrl/leg/angle/actual | l3xz_gait_ctrl/LegAngle |
Published Topics
| Default name | Type |
|---|---|
/l3xz/l3xz_gait_ctrl/heartbeat | std_msgs/UInt64 |
/l3xz/ctrl/leg/angle/target | l3xz_gait_ctrl/LegAngle |
/l3xz/odom | nav_msgs/Odometry |