The repository contains:

1. OpenDog ROS launch files
2. OpenDog Ros Python nodes for 2D forward walking
3. Arduino ROS limit switch node
4. Drawings/ matlab calculations The package name is 'odrive_ros'. Recommend changing this in the future

#Sub-Repository / Launch File Explanation

1. launch folder stores launch files

   • odrive_wlims.launch connects all odrives in series.

   • Takes about 3-5 mins to connect all. Pay attention to micro-USB conection

   -odrive_wlims_one.launch connects only one odrive.

   -Only connects 4 odrives. Modify the launch file if necessary.

   -command : roslaunch odrive_ros odrive_wlims.launch

2. nodes contains nodes that are used to run openDog.

1.Output funcions of limit switches were added to odrive_interface.py and odrive_node.py 2. Inverse_kinematics.py is added to the package

The Arduino limit switch node is completed. Variable names may change in the future, but it is fully functioning

Limit switch is published on rising edge (modified in odrive_node.py)

The launch file (odrive_wlims.launch) has been modified. 6 odrive nodes are added with specified hex serial numbers, and 2d motion ROS nodes are added (IK, foot path, motor position). Limit switch topic variable is added in the launch file.

Launch file is updated. It conects 6 odrives successfully

Changed opendog node organization for forward walking motion. The individual leg will have individual foot path. Still need to figure out phase shift.

Odrive connection sequence is created; four odrives will connect in linear order. Yet it does not work as ideal. Need further debugging

updated a launch file with odrive linear connection sequence, debugged forward walking foot path is updated