Tag Archives: ROS

B.E.T.H. ROS

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This is a quick capture of the steps i used to install ROS on a Raspberry Pi 3 and use it to control my hexapod, B.E.T.H. I’ll updated it with the bumps in the road as i hit them.

This is based off Kevin O’s hexapod ROS build which can be followed here: http://forums.trossenrobotics.com/showthread.php?6725-ROS-Hexapod-project-Golem-MX-64-4dof

Hardware

  • Raspberry Pi 3
  • USB2AX
  • Playstation 3 controller

Software

  • Ubuntu Mate 16.04
  • ROS Kinetic
  • https://github.com/KevinOchs/hexapod_ros

Step 1: Install ROS

http://wiki.ros.org/kinetic/Installation/Ubuntu

  • Boot Ubuntu Mate 16.04
  • Resize partition, reboot
  • sudo rpi-update, reboot
  • Software and Updates, allow “restricted,” “universe,” and “multiverse.”
CATKIN_IGNORE gazebo

CATKIN_IGNORE hexapod-sound

sudo apt-get install ros-kinetic-tf, and joystick, and state publisher

Step 2: Install hexapod-specific nodes using Kevin’s Github instructions

Step 3: Press the start button and you have control via the DS3.

One of my goals is to learn more about ROS by creating nodes that support additional gait types. I’ll keep you posted.