Introduction

This is a step by step-by-step guide on how to install the PhantomX hexapod on Ubuntu 16.04 with ROS Kinetic.

Note This guide assumes that the reader has alread installed ROS Kinetic.

Instructions

Make sure that you have the correct controllers installed:

sudo apt-get update
sudo apt-get install ros-kinetic-joint-state-controller
sudo apt-get install ros-kinetic-effort-controllers
sudo apt-get install ros-kinetic-position-controllers

Create a catkin workspace:

mkdir -p ~/phantomx_ws/src
cd ~/phantomx_ws
catkin_make

Clone the PhantomX repositories into your workspace:

git clone https://github.com/HumaRobotics/phantomx_description ~/phantomx_ws/src/phantomx_description
git clone https://github.com/HumaRobotics/phantomx_control ~/phantomx_ws/src/phantomx_control
git clone https://github.com/HumaRobotics/phantomx_gazebo ~/phantomx_ws/src/phantomx_gazebo

and make:

catkin_make
source devel/setup.bash

Now run the simulation:

roslaunch phantomx_gazebo phantomx_gazebo.launch

and the walking demo:

rosrun phantomx_gazebo walker_demo.py

Once everything is finished loading press the play button in Gazebo and the PhantomX should start walking about.

Conclustion

And that is it! That is all it takes to get the PhantomX hexapod working in Gazebo.