:floppy_disk: l3xz_gait_ctrl

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

Literature

• Coding a realtime Cartesian controller with KDL

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