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Aramist / hexapod_simulation

Simulation for the PhantomX hexapod in gazebo through ROS.
GNU General Public License v3.0
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I need you help #2

Open ShuiYunXi opened 2 years ago

ShuiYunXi commented 2 years ago

Hello! I am using your hexapod_simulation code to simulate the gait.But the model parameters and D-H parameter table is lacked。Can you send me the parameters?

Aramist commented 2 years ago

Hello!

I originally created this repository back in highschool to practice ROS and I didn't have the software to generate urdf files myself (in fact I got the model for this project from another repo) so I don't have a set of DH parameters for this. That being said, if the phantomx_description package I linked above also doesn't have the parameters you're looking for, it might be possible to calculate most of them based on the displacements and rotations configured for each of the STL origins in the hexapod_urdf.xacro file

I hope this helps

ShuiYunXi commented 2 years ago 
OK~!,I wlii be try.Thank you very much!

发件人：Aramis Tanelus @.> 发送时间：2021年11月22日(星期一) 10:07 收件人：Aramist/hexapod_simulation @.> 抄　送：ShuiYunXi @.>; Author @.> 主　题：Re: [Aramist/hexapod_simulation] I need you help (Issue #2)

Hello! I originally created this repository back in highschool to practice ROS and I didn't have the software to generate urdf files myself (in fact I got the model for this project from another repo) so I don't have a set of DH parameters for this. That being said, if the phantomx_description package I linked above also doesn't have the parameters you're looking for, it might be possible to calculate most of them based on the displacements and rotations configured for each of the STL origins in the hexapod_urdf.xacro file I hope this helps — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub, or unsubscribe.

han88 commented 1 year ago

Hello i launched the hexapod in gazebo without problems, but if i launch the consol_control nothing happens ... or how can i use it to move the hexapod in gazebo? thx