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This repository has been archived by the owner on Mar 19, 2024. It is now read-only.
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Gait controller for the L3X-Z electric/hydraulic hexapod robot.

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107-systems/l3xz_gait_ctrl

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💾 l3xz_gait_ctrl

Build Status Spell Check status

Gait controller for the L3X-Z electric/hydraulic hexapod robot.

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

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Gait controller for the L3X-Z electric/hydraulic hexapod robot.

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