Custom quadruped based on the MOCO quadruped open source project
Used for/at MassRobotics
Differences include: - More powerful and larger servos - STL mods for carbon fiber 3D printing - All custom electronics and power - Better servo options/interface - Rewritten software - STL design modifications based on mods - etc.
Using the champ by chvmp ros packages for functionality Using the spotMicro code base for low level control
package: cocoa2_config -> bringup.launch, seems like the communication between i2cpwm_board's (/servos_absolute /servos_drive /servos_proportional) seems to be working with cocoa_config_node --> Take a look at servo_move_keyboard package's servoMoveKeyboard
- [remote pc] roscore
- NOTE: ONLY USE IF ERROR, otherwise skip [quadruped pc] rosrun servo_move_keyboard servoMoveKeyboard.py # then cancel ctrl-c
- [quadruped pc] rosrun imu_mpu6050 imu_mpu6050_node
- [quadruped pc] rosrun i2cpwm_board i2cpwm_board wait a bit for things to init. 5 [remote pc] roslaunch cocoa_config motion_cmd.launch
- [remote pc] roslaunch cocoa_config bringup.launch rviz:=true
- [remote pc] roslaunch champ_teleop teleop.launch