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chvmp / champ

MIT Cheetah I Implementation
BSD 3-Clause "New" or "Revised" License
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How do I implement this simulation on actual hardware? #52

Closed alphabeta97 closed 3 years ago

alphabeta97 commented 3 years ago

I'm working on a project and I was able to simulate my model in RVIZ (still might need some tweek to it). Now, how do I implement this simulation on actual hardware? My model is simple and I won't be using many sensors for now, so I'm planning to use Arduino Mega to run servos. I'm new to this ROS and Robotics environment.

Thank You champ team for making this repository to make simulating quadruped easy. 👍 👏

robosherpa commented 3 years ago

@alphabeta97 ROS will need a processor that can run an operating system. You may want to hook it up to a Raspberry Pi (alike) Single Board PCs for a standalone system. For your tabletop experiment, you also have an option to directly send rosserial, handy notes here to publish commands from ROS running on your PC to Arduino Mega.

All the best!

grassjelly commented 3 years ago

Hey @alphabeta97 . I wrote a hardware integration guide here: https://github.com/chvmp/champ/wiki/Hardware-Integration . Feel free to open a new issue related to the integration guide. Closing this for now