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hexapod_ros

These packages are for ROS integration for our hexapods.

Packages

Package namedescription
hexapod_bringuplaunch file for the hardware interface of Pexod
hexapod_descriptionXacro for Pexod, as well as relevant launch files for the description
hexapod_driverC++ API to control our hexapods (talks to dynamixel_control through trajectory messages)
hexapod_rosmetapackage for the above packages

Important: When this repository is updated, URDF files must be generated and pushed to hexapod_common/hexapod_models.

Dependencies

Authors

Packages

hexapod_description

Contains the URDF models of our hexapods. Its launch files take care of generating the URDF from Xacro files and loading it in ROS.

The visuals of these models are made with STL files taken from our CAD designs (see pexod_mechanical_design) and generated from Robotis' models of their own parts (dynamixel actuators and frames).

LICENSE

CeCILL