Hexapod

Get up and running

git clone git@github.com:abaeyens/hexapod.git
cd hexapod
git submodule update --init --recursive

echo -e USER_ID=$(id -u $USER)\\nGROUP_ID=$(id -g $USER) >> .env
docker compose build --pull
docker compose run --rm app bash

colcon build
source install/setup.bash

To finish, do the host setup (see below) and reboot the host.

Host setup

For improved DDS performance, a few changes on the host side are necessary. From this repo's root directory:

sudo ln -s ${PWD}/etc/sysctl.d/ros2-dds.conf /etc/sysctl.d/ros2-dds.conf

Leg and joint naming and indexing

@pedro feel free to comment on this!

• Legs are indexed numerically against the clock starting from the left front leg. Visualized:

         /front\
  leg 0 |       | leg 5
        |       |
  leg 1 |       | leg 4
        |       |
  leg 2 |       | leg 3
         \_____/
  

• For each leg, leg joints are indexed alphabetically starting from the torso. Drawing:

  feet -- joint c -- joint b -- joint a -- torso
  

  So, for example, joint 3a points to the shoulder joint of the leg on the rear right.
• Leg joints are indexed numerically following the expression leg_index*3 + joint_index_per_leg. So, for example, from its feet to leg, the second leg has as structure:

  feet1 -- joint 5 -- joint 4 -- joint 3 -- torso