ANTSY - Autonomous Navigator and Terrain Surveyor Yetti

Yetti? Well, it is not a spider. It's more like an aberration, like a Yetti!

This package can be used for hexapod simulation in ROS2, specifically Gazebo but it was also tested with ISAAC Sim.

Instalation

• git clone [email protected]:Laroto/antsy.git
• git submodule update --init --recursive
• docker compose build --pull
• docker compose run --rm antsy
• colcon build
  • (optional) For convenience, we can instead run colcon build --symlink-install to create simlinks. This will allow to edit non-compiled files (eg: Python scripts or parameter files) without having to source the workspace again
• source install/setup.bash

Running

There is more information about each component of this package in the submodules of this reporsitory:

• antsy_description - handles the robot model related things. It's necessary for pretty much everything else
• antsy_simulation - contains everything simulation related. No need to use this if using the real ANTSY
• antsy_control - handles all the control. Mandatory for all uses (unless you don't want our Yetti to move).
• ds4_launcher - just a simple convenience tool to use a PS4 controller to remote control our Yetti.

There are more submodules/packages but they are used as libraries and/or dependencies so no need to worry about those ;)