SWheg : Wheel-leg transformable robot

Overview

This repository holds the code for SWheg, a tendon-driven wheel-leg transformable robot.

Requirements

• Ubuntu 18.04
• ROS melodic
• SMach
• Gazebo9
• Joy

Quick Start

First, clone and compile the code in a catkin workspace.

To start the Simulation, use:

roslaunch wheelleg_gazebo WheelLegHexapod.launch

or

roslaunch wheelleg_gazebo WheelLegQuadraped.launch 

On the real robot, use:

rosrun wheelleg_real motorController

Then, in the second terminal, start the joy node.

rosrun joy joy_node 

Finally, launch the corresponding controller in another terminal:

rosrun wheelleg_hexapod_control SmachTest.py

or

rosrun wheelleg_quadruped_control SmachTest.py