- Andres Camilo Torres Cajamarca – Mechatronics Engineering Student
- Felipe Chaves Delgadillo – Mechatronics Engineering Student
- Ph.D. Eng. Pedro Fabián Cárdenas Herrera
- Ph.D. Eng. Ricardo Emiro Ramírez Heredia
A set of ROS 2 Humble packages designed to control an 18-degree-of-freedom (DOF) hexapod robot, including inverse kinematics, transformation, and motor control nodes.
You can use either the Raspberry Pi connected to the robot or a laptop.
To use these packages, install the following prerequisites:
Then, run the following commands in an Ubuntu terminal:
git clone https://github.com/antorresca/Hexapod
cd Hexapod
colcon build
source install/setup.bashOnce completed, proceed to the Launching ROS 2 Nodes section to run the system.
If using the Raspberry Pi via SSH, first ensure that you are connected to the 'LabFabEx' Wi-Fi network. If you do not have the password, please contact the laboratory manager.
Then, in a Windows CMD or a Unix terminal, connect to the Raspberry Pi using the following credentials:
User: Hexapodo
*Password: ask to team *
Run the following command:
ssh hexapodo@hexapodoOnce logged in, proceed to the steps in the Launching ROS 2 Nodes section.
The following ROS 2 nodes must be launched in this order, using a new terminal (or tmux pane) for each one:
- gui_node
- cinematica_node
- transformation_node
- dynamixel_node
# In separate terminals (or tmux panes), run in this order:
ros2 run gui_node gui_client
ros2 run transformation_node transformation_node
ros2 run cinematica_node cinematica_node
ros2 run dynamixel_node dynamixel_nodeNotes:
- Ensure that all nodes are properly built and available in your workspace.
- The gui_node will remain in a loop until transformation_node is launched, and transformation_node will stay in a loop until cinematica_node is launched.
- If the U2D2 is not connected, dynamixel_node will not work and will attempt to reconnect every 10 seconds.
- Always check the logger for information about the status and functionality of the nodes.
In gui_node, when you type '1', the program will start, and the trajectory will be calculated in cinematica_node.
Then, transformation_node will retrieve the first array of positions and attempt to send it to dynamixel_node via an action.
Once dynamixel_node reaches all the positions, transformation_node will retrieve the next position, repeating the process until the user stops it.
This project consists of five nodes: three general nodes, one for simulation, and one for hardware. Communication between nodes is handled through topics, services, and actions, as shown below.
