{"id":399,"date":"2016-10-19T18:51:23","date_gmt":"2016-10-19T22:51:23","guid":{"rendered":"http:\/\/projectsofdan.com\/?p=399"},"modified":"2018-12-15T13:54:11","modified_gmt":"2018-12-15T18:54:11","slug":"b-e-t-h-ros","status":"publish","type":"post","link":"https:\/\/projectsofdan.com\/?p=399","title":{"rendered":"B.E.T.H. ROS"},"content":{"rendered":"<p>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&#8217;ll updated it with the bumps in the road as i hit them.<\/p>\n<p>This is based off Kevin O&#8217;s hexapod ROS build which can be followed here: http:\/\/forums.trossenrobotics.com\/showthread.php?6725-ROS-Hexapod-project-Golem-MX-64-4dof<\/p>\n<p>Hardware<\/p>\n<ul>\n<li>Raspberry Pi 3<\/li>\n<li>USB2AX<\/li>\n<li>Playstation 3 controller<\/li>\n<\/ul>\n<p>Software<\/p>\n<ul>\n<li>Ubuntu Mate 16.04<\/li>\n<li>ROS Kinetic<\/li>\n<li>https:\/\/github.com\/KevinOchs\/hexapod_ros<\/li>\n<\/ul>\n<p>Step 1: Install ROS<\/p>\n<p>http:\/\/wiki.ros.org\/kinetic\/Installation\/Ubuntu<\/p>\n<ul>\n<li>Boot Ubuntu Mate 16.04<\/li>\n<li>Resize partition, reboot<\/li>\n<li>sudo rpi-update, reboot<\/li>\n<li>Software and Updates,&nbsp;allow &#8220;restricted,&#8221; &#8220;universe,&#8221; and &#8220;multiverse.&#8221;<\/li>\n<\/ul>\n<pre><code>CATKIN_IGNORE gazebo<\/code>\n\nCATKIN_IGNORE hexapod-sound<\/pre>\n<p>sudo apt-get install ros-kinetic-tf, and joystick, and state publisher<\/p>\n<p>Step 2: Install hexapod-specific nodes using Kevin&#8217;s Github instructions<\/p>\n<p>Step 3: Press the start button and you have control via the DS3.<\/p>\n<p>One of my goals is to learn more about ROS by creating nodes that support additional gait types. I&#8217;ll keep you posted.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>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&#8217;ll updated it with the bumps in the road as i hit them. This is based off Kevin O&#8217;s hexapod ROS build which can be followed here: http:\/\/forums.trossenrobotics.com\/showthread.php?6725-ROS-Hexapod-project-Golem-MX-64-4dof Hardware [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[4],"tags":[5,6,35],"class_list":["post-399","post","type-post","status-publish","format-standard","hentry","category-b-e-t-h","tag-hexapod","tag-robot","tag-ros"],"_links":{"self":[{"href":"https:\/\/projectsofdan.com\/index.php?rest_route=\/wp\/v2\/posts\/399","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/projectsofdan.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/projectsofdan.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/projectsofdan.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/projectsofdan.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=399"}],"version-history":[{"count":9,"href":"https:\/\/projectsofdan.com\/index.php?rest_route=\/wp\/v2\/posts\/399\/revisions"}],"predecessor-version":[{"id":412,"href":"https:\/\/projectsofdan.com\/index.php?rest_route=\/wp\/v2\/posts\/399\/revisions\/412"}],"wp:attachment":[{"href":"https:\/\/projectsofdan.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=399"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/projectsofdan.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=399"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/projectsofdan.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=399"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}