This project is really awesome and has me inspired!
I am using a PhantomX hexapod for my Master's project, in which I'm developing a posture controller for walking on uneven terrain. My situation is actually quite similar to Romain's - I also came across the HumaRobotics packages a while ago and am using them to simulate the robot in Gazebo. I need to change the gait generation to use inverse kinematics though, as I need this for the posture control.
I'm quite a newbie to ROS and I would like to spend as much time as possible on developing my control algorithm rather than implementing the walking code. I happened upon some of Kevin's locomotion code for his awesome Golem robot on KurtE's GitHub:
But since this is not on Kevin's own GitHub I'm not sure if it is the correct version of the software, or even whether Kevin would prefer that his code stays private for now. It would save me loads of time if I could use some of this code, or Renee's version for the PhantomX, as a starting point for the gait generation in ROS for the simulation. I might also consider running the real robot with ROS at a later stage, if my project outgrows the Arbotix Robocontroller.
I look forward to collaborating on this project!