Demo:

RHex Hexapod Bot Simulation using ROS2 Jazzy and Gazebo Harmonic

Workspace: rhex_ws

Packages: rhex_description, rhex_gazebo, rhex_control

Instructions for usage

1. Install ROS Jazzy on Ubuntu 24.04 by following the instructions on the official website.
2. Install the control plugin, controllers and other requirements:

   
   sudo apt-get install ros-jazzy-xacro ros-jazzy-joint-state-publisher-gui ros-jazzy-ros-gz ros-jazzy-ros-gz-bridge ros-jazzy-ros-gz-sim ros-jazzy-ros2-control ros-jazzy-ros2-controllers ros-jazzy-gz-ros2-control\
   

3. Clone the repo

   git clone https://github.com/VipulDinesh/RHex_ROS2.git --recursive