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Thread: ROS enabled PhantomX Hexapod

  1. #21
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    Re: ROS enabled PhantomX Hexapod

    Quote Originally Posted by jwatte View Post
    The GPU can be used, too, even headless if you don't mind some arcane setup magic...
    I actually bought a hdmi dongle that tricks it into thinking there is a monitor connected. It works great!

    http://www.fit-pc.com/web/products/fit-headless/

  2. #22
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    Re: ROS enabled PhantomX Hexapod

    Quote Originally Posted by KurtEck View Post
    Yes it would help to see some close up pictures of your setup for the sensor. I wonder how much it helps to have it mounted on the front versus more centered, where it may evenly distribute weight?
    I'm not sure how much it helps to be up front since I haven't tried the standard location on top but I definitely like the way it looks! It also took a 3D printed "spacer" to attach the bracket to the front of the PhantomX without making modifications to the frame. I can put that on thingiverse too but it was really simple to make.

    Here are a few pictures.. Turns out it was harder to photograph than I expected. If anyone does want to mount this way it takes a little patience because you have to attach the back of the PrimeSense case to the bioloid bracket and assemble the sensor at the same time. This is because the cable runs from behind the sensor up into the unit and the bracket removes access to the underside of the sensor. If needed I could take mine apart and post photos of the process.. I'm thinking about ordering some of the grey bioloid brackets from Trossen so I can dye them pink so that might be a good time to do so..

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  3. #23

    Re: ROS enabled PhantomX Hexapod

    Thanks, I will have to pull my PrimeSense sensor out and see how hard it would be. I think before I just used wire ties to hold the base on, but it was not overly stable. Also may experiment on where to mount as I have the newer frame with extra top piece.

    Boy all of these things to help keep me busy as it is now spring and everything is growing...

  4. #24
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    Re: ROS enabled PhantomX Hexapod

    Today I ventured off the power supply, attached a battery, and teleoperated the hex from my desktop via the PS3 controller. I must admit I made quite a few trips from the desktop to the other room to make sure I wasn't about to crash . This is a map generated of an area of my living room and despite having some issues with the recent imu calibration I performed it came out pretty nice.

    In the camera view of this picture you can see the area where I started mapping from and the table where the hex was assembled.
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    And in this picture you can see the Depth Sensor image was turned on. You can also make out the L shaped sofa on the left and on the map you can see the hall way to the computer lab.
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  5. #25

    Re: ROS enabled PhantomX Hexapod

    Quote Originally Posted by jwatte View Post
    That's awesome! Glad you're getting more oomph out of that little board.
    I'm actually quite impressed with it. The GPU can be used, too, even headless if you don't mind some arcane setup magic...
    For the fun of it I will probably swap the Edison off of my PhantomX for the spare RPI2...

    Playing around building some of my own earlier RPI code base for the Phoenix. May also experiment and try using the PS3 code base from the HROS1 code base instead of Commander...

    Thought I would update my make files to maybe use the above compile flags. But what I am wondering if there is a reasonable way to detect if I am compiling for the RPI versus the RPI2?

    I have stuff in my makefiles like:
    ifeq ($(OSTYPE),linux-gnueabi)
    ...
    So most things build on RPI, BBBK maybe Odroid and maybe Edison

  6. #26
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    Re: ROS enabled PhantomX Hexapod

    Quote Originally Posted by KurtEck View Post
    Thought I would update my make files to maybe use the above compile flags. But what I am wondering if there is a reasonable way to detect if I am compiling for the RPI versus the RPI2?

    I have stuff in my makefiles like:
    ifeq ($(OSTYPE),linux-gnueabi)
    ...
    So most things build on RPI, BBBK maybe Odroid and maybe Edison
    Could probably use 'cat /proc/cpuinfo' or 'lscpu' with grep, and maybe a bit of sed, to identify the processor name and/or architecture then set different flags for each.
    Please pardon the pedantry... and the profanity... and the convoluted speech pattern...
    "You have failed me, Brain!"
    bleh

  7. #27

    Re: ROS enabled PhantomX Hexapod

    Sorry for the slight hijacking here...

    It looks like you are making great progress!

  8. Re: ROS enabled PhantomX Hexapod

    Hi,

    I have to admit, I got excited reading the 3 pages of this thread.

    I am working on the implementation of ROS for the PhantomX Hexapod but I do not know how to do it properly and how to start.

    I worked with the HumaRobotics packages for using this hexapod in Gazebo :
    - https://github.com/HumaRobotics/phantomx_description
    - https://github.com/HumaRobotics/phantomx_gazebo
    - https://github.com/HumaRobotics/phantomx_control

    And I added support for the PS3 joy and for the real robot dynamixels with the ROS dynamixel package : http://wiki.ros.org/dynamixel_controllers
    But I did not find yet with a proper way to generate the gaits.

    Your project is just amazing, it is exactly what I want to do.
    Actually, my project is to develop a gait to walk on a rough terrain and I don't want to spend more time implementing ROS for the hexapod.
    I did not see any link to your sources, but could you share it with me ? I'm sure we can work together on this implementation, I am actually doing a full time job on this project.

  9. #29
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    Re: ROS enabled PhantomX Hexapod

    Romain, you are right Renee has totally been rocking this project. Since I'm the primary author of this code I'll send you a PM to chat about this. We are still working on some bugs and features. Primarily finishing up the implementation of the navigation stack that the PR2 and others use.

  10. #30
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    Re: ROS enabled PhantomX Hexapod

    Thanks Romain!

    It is an exciting project to be working on and obsessing over as of lately Like Kevin said the code is in a work in progress state but coming along nicely. I'm betting he will get you going in the right direction at the very least.

    In those links you posted there is an image of a PhantomX rendering.. I see what looks like foot sensors? That is something I'm interested in playing with one day and I've been considering how I'd design such a sensor/switch. I'm curious if you or someone you know has already ventured down that avenue?
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