commit 61eb0f92c60bd66e2158eaa3624d180adb479156
Author: Marcus Grieger <marcus@grieger.xyz>
Date: Thu Feb 1 15:38:20 2024 +0100
Intial commit
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..b25c15b
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1 @@
+*~
diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..7fc2800
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,37 @@
+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()
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000..30e8e2e
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,17 @@
+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.
diff --git a/bringup/config/hexapod_robot.rviz b/bringup/config/hexapod_robot.rviz
new file mode 100644
index 0000000..f540827
--- /dev/null
+++ b/bringup/config/hexapod_robot.rviz
@@ -0,0 +1,327 @@
+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
diff --git a/bringup/launch/hexapod_robot.launch.py b/bringup/launch/hexapod_robot.launch.py
new file mode 100644
index 0000000..682970b
--- /dev/null
+++ b/bringup/launch/hexapod_robot.launch.py
@@ -0,0 +1,52 @@
+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)
+
\ No newline at end of file
diff --git a/description/urdf/hexapod_robot.urdf.xacro b/description/urdf/hexapod_robot.urdf.xacro
new file mode 100644
index 0000000..48c72f0
--- /dev/null
+++ b/description/urdf/hexapod_robot.urdf.xacro
@@ -0,0 +1,27 @@
+<?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>
diff --git a/description/urdf/hexapod_robot_macros.xacro b/description/urdf/hexapod_robot_macros.xacro
new file mode 100644
index 0000000..e321c8f
--- /dev/null
+++ b/description/urdf/hexapod_robot_macros.xacro
@@ -0,0 +1,176 @@
+<?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>
diff --git a/description/urdf/hexapod_robot_materials.xacro b/description/urdf/hexapod_robot_materials.xacro
new file mode 100644
index 0000000..1825e16
--- /dev/null
+++ b/description/urdf/hexapod_robot_materials.xacro
@@ -0,0 +1,25 @@
+<?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>
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..d4b7323
--- /dev/null
+++ b/package.xml
@@ -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>