resibots/hexapod_ros

ROS Integration for our hexapods

hexapod_ros's Issues

What is dummy_link for in adding_sensors ?

Hello,

In branch adding_sensors, the first commit adds a link named "dummy_link". What is it for ?

@virgileTN

Change Marta to the final hexapod's name

For now, to be able to move forward, I used Marta as a codename for the new hexapod. It should be updated as soon as we decide what is the final name.

Update to new dynamixel_control_hw

We should update the launch and config files to reflect the changes in dynamixel_control_hw..

Building my own urdp model

Hi, I would like to build my own urdp files based around my own hexapod robot https://sketchfab.com/3d-models/spider-robot-budget-version-v4-d92e3defb67f4ff487ed51d805b99072, is there a tutorial for this?

Could not find NAOqi's hexapod_controller_simple

When compiling with catkin_make, I get the following error message

-- +++ processing catkin package: 'hexapod_driver'
-- ==> add_subdirectory(hexapod_ros/hexapod_driver)
-- Using these message generators: gencpp;genlisp;genpy
-- Could not find NAOqi's hexapod_controller_simple
CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
HexapodController_INCLUDE_DIR (ADVANCED)
   used as include directory in directory /home/dorian/catkin_ws/src/hexapod_ros/hexapod_driver
   used as include directory in directory /home/dorian/catkin_ws/src/hexapod_ros/hexapod_driver
   used as include directory in directory /home/dorian/catkin_ws/src/hexapod_ros/hexapod_driver
   used as include directory in directory /home/dorian/catkin_ws/src/hexapod_ros/hexapod_driver
   used as include directory in directory /home/dorian/catkin_ws/src/hexapod_ros/hexapod_driver
   used as include directory in directory /home/dorian/catkin_ws/src/hexapod_ros/hexapod_driver
   used as include directory in directory /home/dorian/catkin_ws/src/hexapod_ros/hexapod_driver
   used as include directory in directory /home/dorian/catkin_ws/src/hexapod_ros/hexapod_driver
   used as include directory in directory /home/dorian/catkin_ws/src/hexapod_ros/hexapod_driver
   used as include directory in directory /home/dorian/catkin_ws/src/hexapod_ros/hexapod_driver

-- Configuring incomplete, errors occurred!

Do you know what I should do to solve this ?

Do we still need rostard branch

Is the rosdart branch still in use or could it be used in the foreseeable future ?

Settle the Xacro and URDF files

For now, the branch adding_sensors hosts modified models of the hexapods allowing to represent the sensors. However, we cannot merge this into master, since Pexod doesn't have these sensors.

Furthermore, the model for a leg should be updated for the new hexapod, since it differs from Pexod.

What do you think is the best approach to factor as much as possible of the hexapod's models ?

introduction of a cartesian-space controller

One possible explanation for some strange behaviors of our hexapods is that we control them in a very naive way, ignoring their kinematic structure.

Using trac_ik, I was able to make a "controller" (actually a trajectory generator) for our hexapods, working in cartesian space. That means that three controllers are used, along X, Y and Z axis of each leg (in the robot's base_link).

Hence my first question (to @costashatz and @jbmouret): are you interested enough in this to give it a shot?

If you hare, I would like to know if you have a preference for how I allow either "controller" to be used in hexapod_driver. Otherwise, I'll just move to making a basic walk controller to remote control the hexapods (walk straight, turn, etc.).

P.S.: No video yet, what would you suggest as a tool for it?

Xacro description files compatibility with ROS indigo

On ROS indigo, that is to say on Positronic, the xacro files result in unrealistic model of the robot. For instance, back-left leg is in the middle of the robot.

Or better, a picture: