mildred

A ROS Based Hexapod

Getting Started

Install Extra Dependencies

sudo apt install sudo apt install \
ros-melodic-joy ros-melodic-joystick-drivers \  
ros-melodic-dynamixel-sdk ros-melodic-dynamixel-workbench \
ros-melodic-effort-controllers \
libyaml-cpp-dev \
liburdfdom-tools 

OpenCM9.04 Arduino Setup

Additional Boards Manager URL:

https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCM9.04/master/arduino/opencm_release/package_opencm9.04_index.json

Linux: Allow uploading to the board without root permissions:

wget https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCM9.04/master/99-opencm-cdc.rules
sudo mv ./99-opencm-cdc.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules
sudo udevadm trigger

Source the Workspace

Using Fish

You must have bass installed.

bass source devel/setup.bash

Using Zsh

source devel/setup.zsh

Using Bash

source devel/setup.bash

Fix gazebo in vmware

export SVGA_VGPU10=0

Other References

Dynamixel Workbench

http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_workbench

LEAP Motion SDK

https://developer.leapmotion.com/sdk/v2

Running

Terminal 1

roscore

Terminal 2

Local Development

roslaunch mildred mildred.launch

Helpers

View Graph

rosrun rqt_graph rqt_graph

View Plot

rosrun rqt_plot rqt_plot

Get Topic Information

rostopic

Services

rosservice

Parameter Server

rosparam

Console

rosrun rqt_console rqt_console

Set Logger Levels

rosrun rqt_logger_level rqt_logger_level