Goliath robot

This repo contain source for ROS powered hexapod robot named Goliath.

Description

Robot has 6 legs, each 3DOF. A robot can see (soon :) ) using a web camera. I want that Goliath to detect and chase my cat with help of computer vision, it will be fun ;).

Packages

goliath_bringup

Contain launcher and config files.

goliath_description

Contain STL 3d models of robot parts and XML description.

goliath_motion

Cpp Source Code! Convert command from teleop controller (legs, body, gait control) to signals for motors driver.

goliath_msgs

My custom messages for ROS topics.

goliath_simulation

Cpp Source Code! Auxiliary stuff for simulation and visualization, such as servo-motors emulator.

goliath_teleop

Cpp Source Code! Sends commands based on keystrokes on the keyboard.

Media

Robot 3d model screen

[]

Video with visualization of a robot.

[] (https://www.youtube.com/watch?v=tgWmmHb4pjg)