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Quadripod robot

All the files to build a quadripod, including 3d model, eagle files and ROS code.

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Disclaimer

This is a personal project, this means that this quadripod was build in a single exemplary. It worked fine for me, but i cannot be held responsible if you fry somehing using my plans.

Repository organization

3D

Contains stl for 3d print the robot, there are the original files from hackaday: [https://hackaday.io/project/9334-kame-esp8266-based-quadruped]. It contains also the modified STL to build the same base with mg996 servos.

Quadripod_board

Contains the eagle files for the pcb manufacturing.

Code

Contains the code that runs on the raspberry pi zero:

  • The folder catkin\_ws contains the node to run locally on the robot.
  • The folder camera\_calibration contains the files to calibrate the camera.
  • The folder teleop\_ws contains the nodes to control the robot remotely using a joystick.

ROSpbianZero

Contains the tutorial to setup the raspberry pi zero:

  1. install raspbian lite
  2. compile and install ros kinetic (perception)
  3. setup the service to start a launchfile at boot
  4. setup the wifi AP