Use gazebo to simulate a fixed base, 2 degree of freedom leg.
Requirements
1a. Make a rudimentary URDF model of a 2 DOF leg (someone else will be tasked with creating a more accurate one)
1b. Integrate the work with gazebo into the main repository
Control the simulated leg through the rosrust client (just needs to move somehow, could spin in circles for all I care)
Figure out how to actually control the simulated leg well. We are effectively building a robot arm, so I'm sure there are a lot of tutorials on how to do inverse kinematics.
Suggestions
look into the ROS package called ros_control for motor control (which is pretty popular and should maybe be able to integrate with gazebo. This is what the odrive motor controller package is build off of, so it should be swappable)
Use gazebo to simulate a fixed base, 2 degree of freedom leg.
Requirements 1a. Make a rudimentary URDF model of a 2 DOF leg (someone else will be tasked with creating a more accurate one) 1b. Integrate the work with gazebo into the main repository
Suggestions
ikfastlibrary http://wiki.ros.org/Industrial/Tutorials/Create_a_Fast_IK_Solution, http://openrave.org/docs/latest_stable/openravepy/ikfast/#ik-types