Gait controller for the L3X-Z electric/hydraulic hexapod robot.
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
cd $COLCON_WS
. install/setup.bash
ros2 launch l3xz_gait_ctrl gait_ctrl.py
Default name | Type |
---|---|
/l3xz/cmd_vel_robot |
geometry_msgs/Twist |
/l3xz/ctrl/leg/angle/actual |
l3xz_gait_ctrl/LegAngle |
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 |