Hexapod-AI

Welcome

This project is designed to provide the following features and capabilities:

1. Operate Entirely in Headless Mode
   The system is built to function without requiring a graphical user interface, including the server.

2. Develop a Custom CLI-Friendly Client
   A custom command-line interface (CLI) client. Key functionalities include:

   • Controlling the spider’s behavior.
   • Monitoring system status and logs.
   • Retrieving or managing scene recording data.

3. ROS2 for Communication and Control
   ROS2 (Robot Operating System 2) is the backbone of the system’s communication. It provides support for:

   • Node-Based Architecture: The spider, obstacle detection, and data recording each run as independent ROS2 nodes.
   • Inter-Node Communication: Nodes use ROS2 topics and services to share data, such as movement commands, obstacle sensor readings, and scene recording updates.

4. Simulate Spider Movements with Obstacle Avoidance and Scene Recording
   The focus is to simulate a spider capable of dynamic movement and environment interaction:

   • Random Walk: A pseudo-random algorithm guides the spider’s movements.
   • Obstacle Avoidance: The spider identifies and navigate around obstacles.
   • Scene Recording: The system captures and stores environmental data, movement paths, and interaction details using ROS2’s data management tools. This information is used for machine learning.

5. Expand Compatibility to Other Hexapod Robots
   While initially focused on the Freenove Hexapod, the goal is to build an adaptable framework that can work with other hexapod robots as well.

Prerequisites

• Freenove Hexapod
• Ubuntu for Raspberry Pi

Setup

1. In the root of the project, run the setup script:

   python setup.py

2. Create a virtual envirnment:

   python -m venv venv

3. Activate the virtual enviornment:

   source venv/bin/activate

4. Install the necessary dependencies:

   pip install -r requirements.txt

Tips

• If sudo elevation is needed, run:

  sudo /path/to/Hexapod-AI/venv/bin/python script.py

  This will use the virtual environment's Python interpreter.

• Follow this tutorial for setup and testing.

• To calibrate the spider, download the appropriate client from the original repository. It is compatible with the server.