wuselfuzz
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hexapod_robot
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main
Marcus Grieger 1 year ago
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61eb0f92c6
9 changed files with 680 additions and 0 deletions
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  1. +1
    -0
      .gitignore
  2. +37
    -0
      CMakeLists.txt
  3. +17
    -0
      LICENSE
  4. +327
    -0
      bringup/config/hexapod_robot.rviz
  5. +52
    -0
      bringup/launch/hexapod_robot.launch.py
  6. +27
    -0
      description/urdf/hexapod_robot.urdf.xacro
  7. +176
    -0
      description/urdf/hexapod_robot_macros.xacro
  8. +25
    -0
      description/urdf/hexapod_robot_materials.xacro
  9. +18
    -0
      package.xml

+ 1
- 0
.gitignore View File

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*~

+ 37
- 0
CMakeLists.txt View File

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cmake_minimum_required(VERSION 3.8)
project(hexapod_robot)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

install(
DIRECTORY description/urdf
DESTINATION share/hexapod_robot
)

install(
DIRECTORY bringup/launch bringup/config
DESTINATION share/hexapod_robot
)


if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()

ament_package()

+ 17
- 0
LICENSE View File

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Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.

+ 327
- 0
bringup/config/hexapod_robot.rviz View File

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Panels:
- Class: rviz_common/Displays
Help Height: 70
Name: Displays
Property Tree Widget:
Expanded:
- /TF1
Splitter Ratio: 0.5
Tree Height: 438
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 0.800000011920929
Class: rviz_default_plugins/RobotModel
Collision Enabled: false
Description File: ""
Description Source: Topic
Description Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /robot_description
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c6_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e6_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f6_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t6_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Mass Properties:
Inertia: false
Mass: false
Name: RobotModel
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz_default_plugins/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
base_link:
Value: true
c1_link:
Value: true
c2_link:
Value: true
c3_link:
Value: true
c4_link:
Value: true
c5_link:
Value: true
c6_link:
Value: true
e1_link:
Value: true
e2_link:
Value: true
e3_link:
Value: true
e4_link:
Value: true
e5_link:
Value: true
e6_link:
Value: true
f1_link:
Value: true
f2_link:
Value: true
f3_link:
Value: true
f4_link:
Value: true
f5_link:
Value: true
f6_link:
Value: true
t1_link:
Value: true
t2_link:
Value: true
t3_link:
Value: true
t4_link:
Value: true
t5_link:
Value: true
t6_link:
Value: true
Marker Scale: 0.30000001192092896
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
base_link:
c1_link:
f1_link:
t1_link:
e1_link:
{}
c2_link:
f2_link:
t2_link:
e2_link:
{}
c3_link:
f3_link:
t3_link:
e3_link:
{}
c4_link:
f4_link:
t4_link:
e4_link:
{}
c5_link:
f5_link:
t5_link:
e5_link:
{}
c6_link:
f6_link:
t6_link:
e6_link:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: base_link
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/MoveCamera
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 0.8691349625587463
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.559999942779541
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 4.6249775886535645
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 666
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000100000000000001560000023cfc0200000002fb000000100044006900730070006c006100790073010000003f0000023c000000cc00fffffffb0000000a0056006900650077007300000001d2000000a9000000a900ffffff000001ff0000023c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
Width: 859
X: 0
Y: 32

+ 52
- 0
bringup/launch/hexapod_robot.launch.py View File

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from launch import LaunchDescription
from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution

from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare

def generate_launch_description():
robot_description_content = Command([
PathJoinSubstitution([FindExecutable(name="xacro")]),
" ",
PathJoinSubstitution(
[
FindPackageShare("hexapod_robot"),
"urdf",
"hexapod_robot.urdf.xacro"
]
)
]
)
robot_description = {"robot_description": robot_description_content}
rviz_node = Node(
package="rviz2",
executable="rviz2",
arguments=['-d', PathJoinSubstitution([FindPackageShare("hexapod_robot"), "config", "hexapod_robot.rviz"])],
name="rviz2",
output="screen",
)
robot_state_publisher_node = Node(
package="robot_state_publisher",
executable="robot_state_publisher",
parameters=[{
'robot_description': robot_description_content
}]
)

joint_state_publisher_gui = Node(
package="joint_state_publisher_gui",
executable="joint_state_publisher_gui"
)
nodes = [
rviz_node,
robot_state_publisher_node,
joint_state_publisher_gui
]
return LaunchDescription(nodes)

+ 27
- 0
description/urdf/hexapod_robot.urdf.xacro View File

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="hexapod_robot">
<xacro:include filename="$(find hexapod_robot)/urdf/hexapod_robot_materials.xacro"/>
<xacro:include filename="$(find hexapod_robot)/urdf/hexapod_robot_macros.xacro"/>

<link name="base_link">
<xacro:create_frame_plate z_offset="-0.034"/>
<xacro:create_frame_plate z_offset=" 0.034"/>
<xacro:create_coxa_joint_mount xy_offset="-0.040 0.080"/>
<xacro:create_coxa_joint_mount xy_offset="-0.060 0.000"/>
<xacro:create_coxa_joint_mount xy_offset="-0.040 -0.080"/>

<xacro:create_coxa_joint_mount xy_offset=" 0.040 -0.080"/>
<xacro:create_coxa_joint_mount xy_offset=" 0.060 0.000"/>
<xacro:create_coxa_joint_mount xy_offset=" 0.040 0.080"/>
</link>

<xacro:create_leg number="1" side="l" xy_offset="-0.040 0.080"/>
<xacro:create_leg number="2" side="l" xy_offset="-0.060 0.000"/>
<xacro:create_leg number="3" side="l" xy_offset="-0.040 -0.080"/>
<xacro:create_leg number="4" side="r" xy_offset=" 0.040 -0.080"/>
<xacro:create_leg number="5" side="r" xy_offset=" 0.060 0.000"/>
<xacro:create_leg number="6" side="r" xy_offset=" 0.040 0.080"/>

</robot>

+ 176
- 0
description/urdf/hexapod_robot_macros.xacro View File

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="hexapod_robot">
<xacro:macro name="create_frame_plate" params="z_offset">
<visual>
<origin xyz="0 0 ${z_offset}"/>
<geometry>
<box size="0.100 0.180 0.003"/>
</geometry>
<material name="black"/>
</visual>
</xacro:macro>
<xacro:macro name="create_coxa_joint_mount" params="xy_offset">
<visual>
<origin xyz="${xy_offset} -0.0325"/>
<geometry>
<cylinder radius="0.0125" length="0.006"/>
</geometry>
<material name="black"/>
</visual>
<visual>
<origin xyz="${xy_offset} 0.0325"/>
<geometry>
<cylinder radius="0.0125" length="0.006"/>
</geometry>
<material name="black"/>
</visual>
</xacro:macro>
<xacro:macro name="create_coxa" params="name side xy_offset">
<link name="${name}_link">
<!-- coxa bounding box -->
<visual>
<geometry>
<box size="0.045 0.045 0.045"/>
</geometry>
<xacro:if value="${side == 'l'}"><origin xyz="-0.015 -0.005 0"/></xacro:if>
<xacro:if value="${side == 'r'}"><origin xyz=" 0.015 -0.005 0"/></xacro:if>
<material name="blue"/>
</visual>
<!-- coxa rotation axis -->
<visual>
<geometry>
<cylinder radius="0.005" length="0.065"/>
</geometry>
<material name="blue"/>
</visual>
<!-- femur rotation axis -->
<visual>
<xacro:if value="${side == 'l'}"><origin xyz="-0.020 0 -0.0075" rpy="-1.57 0 0"/></xacro:if>
<xacro:if value="${side == 'r'}"><origin xyz=" 0.020 0 -0.0075" rpy="-1.57 0 0"/></xacro:if>
<geometry>
<cylinder radius="0.005" length="0.065"/>
</geometry>
<material name="blue"/>
</visual>
</link>
<joint name="${name}_joint" type="continuous">
<parent link="base_link"/>
<child link="${name}_link"/>
<origin xyz="${xy_offset} 0"/>
<axis xyz="0 0 1"/>
</joint>
</xacro:macro>

<xacro:macro name="create_femur" params="name parent_name side">
<link name="${name}_link">
<visual>
<xacro:if value="${side == 'l'}"><origin xyz="-0.040 0 0"/></xacro:if>
<xacro:if value="${side == 'r'}"><origin xyz=" 0.040 0 0"/></xacro:if>
<geometry>
<box size="0.100 0.003 0.010"/>
</geometry>
<material name="green"/>
</visual>
<!--
<visual>
<xacro:if value="${side == 'l'}"><origin xyz="-0.040 -0.003 0" rpy="-1.57 0 0"/></xacro:if>
<xacro:if value="${side == 'r'}"><origin xyz=" 0.040 -0.003 0" rpy="-1.57 0 0"/></xacro:if>
<geometry>
<cylinder radius="0.0125" length="0.006"/>
</geometry>
<material name="green"/>
</visual>
-->
</link>
<joint name="${name}_joint" type="continuous">
<parent link="${parent_name}_link"/>
<child link="${name}_link"/>
<xacro:if value="${side == 'l'}"><origin xyz="-0.020 0.03 -0.0075"/></xacro:if>
<xacro:if value="${side == 'r'}"><origin xyz=" 0.020 0.03 -0.0075"/></xacro:if>
<axis xyz="0 1 0"/>
</joint>
</xacro:macro>

<xacro:macro name="create_tibia" params="name parent_name side">
<link name="${name}_link">
<!-- servo box -->
<visual>
<origin xyz="0 -0.005 0.010"/>
<geometry>
<box size="0.020 0.035 0.040"/>
</geometry>
<material name="red"/>
</visual>
<!-- tibia top -->
<visual>
<xacro:if value="${side == 'l'}"><origin xyz="-0.005 0 0.0025"/></xacro:if>
<xacro:if value="${side == 'r'}"><origin xyz=" 0.005 0 0.0025"/></xacro:if>
<geometry>
<box size="0.040 0.003 0.075"/>
</geometry>
<material name="red"/>
</visual>
<!-- tibia middle -->
<visual>
<xacro:if value="${side == 'l'}"><origin xyz="-0.005 0 -0.055"/></xacro:if>
<xacro:if value="${side == 'r'}"><origin xyz=" 0.005 0 -0.055"/></xacro:if>
<origin xyz="0 0 -0.055"/>
<geometry>
<box size="0.030 0.003 0.050"/>
</geometry>
<material name="red"/>
</visual>
<!-- tibia bottom -->
<visual>
<origin xyz=" 0.0 0 -0.105"/>
<origin xyz="0 0 -0.105"/>
<geometry>
<box size="0.010 0.003 0.050"/>
</geometry>
<material name="red"/>
</visual>
<!-- tibia rotation axis -->
<visual>
<origin xyz="0 0 0" rpy="-1.57 0 0"/>
<geometry>
<cylinder radius="0.005" length="0.065"/>
</geometry>
<material name="red"/>
</visual>

</link>
<joint name="${name}_joint" type="continuous">
<parent link="${parent_name}_link"/>
<child link="${name}_link"/>
<xacro:if value="${side == 'l'}"><origin xyz="-0.080 -0.03 0"/></xacro:if>
<xacro:if value="${side == 'r'}"><origin xyz=" 0.080 -0.03 0"/></xacro:if>
<axis xyz="0 1 0"/>
</joint>
</xacro:macro>

<xacro:macro name="create_end" params="name side parent_name">
<link name="${name}_link">
<visual>
<geometry>
<sphere radius="0.004"/>
</geometry>
<material name="cyan"/>
</visual>
</link>
<joint name="${name}_joint" type="fixed">
<parent link="${parent_name}_link"/>
<child link="${name}_link"/>
<origin xyz="0 0 -0.130"/>
</joint>
</xacro:macro>
<xacro:macro name="create_leg" params="number side xy_offset">
<xacro:create_coxa name="c${number}" side="${side}" xy_offset="${xy_offset}"/>
<xacro:create_femur name="f${number}" side="${side}" parent_name="c${number}"/>
<xacro:create_tibia name="t${number}" side="${side}" parent_name="f${number}"/>
<xacro:create_end name="e${number}" side="${side}" parent_name="t${number}"/>
</xacro:macro>
</robot>

+ 25
- 0
description/urdf/hexapod_robot_materials.xacro View File

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<material name="black">
<color rgba="0 0 0 1"/>
</material>

<material name="blue">
<color rgba="0 0 1 1"/>
</material>

<material name="green">
<color rgba="0 1 0 1"/>
</material>

<material name="red">
<color rgba="1 0 0 1"/>
</material>

<material name="cyan">
<color rgba="1 0 1 1"/>
</material>


</robot>

+ 18
- 0
package.xml View File

@@ -0,0 +1,18 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>hexapod_robot</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="marcus@grieger.xyz">wuselfuzz</maintainer>
<license>MIT</license>

<buildtool_depend>ament_cmake</buildtool_depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>

<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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