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Rhoeby

Rhoeby is a ROS-enabled, Navigation-capable hexapod robot based on the Robotis Bioloid kit. It supports SLAM, Navigation and Obstacle Avoidance using low-cost, light-weight 2D Scanning technology available from Rhoeby Dynamics (see website: http://www.rhoeby.com).

Video

Package Summary

The ROS driver is implemented as a single node which performs all publishing and subscribing functions. This helps to reduce the processing load on lesser-capable systems.

Author: John Jordan, Rhoeby Dynamics

License: BSD.

Source:

https://github.com/Rhoeby/hexapod_ros

Published Topics

/laser_data

/odom

/imu_data

Subscribed Topics

/cmd_vel

Hardware Used

Software Features

Installation

The hexapod_ros package has been tested on: ROS Hydro, ROS Indigo releases.

ROS driver code on github:

CM9.04 binary on github:

ROS Package installation:

  1. install robot_pose_ekf
  2. copy hexapod_ros into catkin workspace
  3. do 'catkin_make'

Other:

Download SensoDuino app to phone (Nexus 4, or other Android device), see:

Running

1. Start roscore:

2. Connect to phone (after starting SensoDuino):

3. Run the hexapod_ros node:

4. Start gmapping (for example):


2018-12-08 12:28