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Where do I start to create a Hexapod robot? [closed]

asked 2013-11-18 11:31:23 -0600

flb gravatar image

updated 2014-04-20 14:09:48 -0600

ngrennan gravatar image

I admit that the answer can be a bit subjective, and could create a flame war, so let me do my best to bound the answer space.

I am basically a beginner. Starting a Robot model from scratch is a bit daunting and the process obviously depends on a lot of decisions.

My first goal was to provide joystick control of a hexapod robot that currently functions by serial command. The problem is that each leg servo needs to be separately commanded.

A future goal is to make the robot a bit more autonomous, so using ROS makes sense to me.

My search of tutorials led me to URDF, but the tutorials seemed to stop before I got a working simulator. I have a URDF and a parser.cpp file. There seems to be a lot more needed to run RVIZ and the urdf_tutorial has .vcg files rather than .rviz files so it does not work.

What I think is needed is a top-level "root tutorial starting point" for 3 basic types, roller, flier, multi-legged. From there the types of decisions and the associated packages/tutorials can be linked into a set of top-level descriptions.

As I run through the Wiki and tutorials, I keep running into topics that I have no context for deciding if I care. URDF was the first one that I figured was a good starting point. Obviously, all robots of all types require some sort of "control" node that connects topics to hardware.

As I see it my simplified process is:

  1. Create URDF model
  2. Test the model in visual simulation.
  3. Connect joystick to simulation.
  4. Connect model to robot.

Does my process make sense?

All I have is a workspace containing two files, what else do I need to create?

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2016-05-09 20:57:13.459311

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answered 2014-11-13 03:08:14 -0600

I'm very interested to get the same answers. Did you make any progress?

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Sorry to say that this question seems to have been ignored by the community and I have since been side-tracked on other projects; one being the need to replace my hard drive.

Since the hard drive replacement I have yet to get ROS back up and running. I think that there are a lot of good tutorials

flb gravatar image flb  ( 2014-11-16 18:11:48 -0600 )edit

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Asked: 2013-11-18 11:31:23 -0600

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Last updated: Nov 18 '13