@bradprin Yes, my recent Hexapods were built on ROS. I really like it.
You can already use SpotMicroAI with ROS using the URDF and the joint_state_publisher (see the last Screenshot on https://github.com/FlorianWilk/SpotMicroAI).
UPDATE: I just tested it and the current model does not work with ROS. I will need to fix some minor issue regaring relative-paths of the STL-Files first.
UPDATE-UPDATE: You can now use SpotMicroAI with ROS. just clone the Repo into catkin_ws/src, do a catkin_make and then roslaunch spotmicroai showmodel.launch
Maybe i will write some short Tutorial for that since you are not the first one who asks about ROS and it’s quite easy to implement
The reason why i do not use ROS for SpotMicroAI now is because the development-cycles in PyBullet are much faster (Gazebo, the Simulator of ROS hates restarts). And when doing all the kinematic-stuff i needed to restart a lot And i like PyBullet because it is really lightweight.
But the ROS-Ecosystem has a lot of cool parts (SLAM, Kartographer, RVIZ, all the Tooling, distributed code, and and and… :)). And you can even use Bullet with Gazebo.
To be honest i am not 100% sure yet if i want to use ROS or just glue everything together in a fast-running C++ monolith both ways have their pros and cons. Currently i am 50,652% pro C++ Monolith because it’s just fast and i don’t see any distributed code running here.
This is a great project. How do you like the NVIDIA board? I was debating on picking one up, but I’m going to hold off until I can get my hands on a Pi 4.
Got most of the pieces printed and then realized that the horns that came with my servo are way too big. I 3d printed a few in the meantime on my sla printer, but it’s pretty brittle material. I’ll have to order some new horns. Any suggestions?
I had a similar problem. Had to cut every single horn a little with a side cutter, but the difference was just minimal so it was doable.
My other suggestion would be: we could try to create new STL-Files fitting your servo-horns. Do you have a blueprint/dimensions of these horns?
Yeah, I was looking at modifying and re-printing. Do you know if step files or other non-stl files are available? I don’t immediately see them on KDY’s thingiverse page.
II think there are no non-STL Files available. At least i couldn’t find them. That’s why i recreated some Parts with FreeCAD. We could try recreating the other parts, too.
Okay, I’ve posted some step files here. Everything was redesigned in fusion 360 so I should be able to export to other filetypes if needed. All the parts are virtually identical to the original except the midArm Cover, that needs a bit of tweaking.
This is great! We could even try different types of servos when you finished modelling the parts. I tried to model a leg in FreeCAD, but i think Fusion360 is a better choice for modelling such kinds of parts.
Yeah, I think servos are going to be an issue. I haven’t finished yet but suspect that the MGR996Rs are going to be a tad small. I was going to try overvolting them to see if I could get them to output a bit more.
Any ideas for other lines that are reasonably priced?
I keep thinking that brushless servos should be a thing, but I only see them in super heavy duty applications and are super expensive.
oh nice, they have the same dimensions as the MG996R, right?
You could buy only 3 of them to have a test-leg and “somehow measure” max-forces.
This way we could compare different Servos without burning all our money
