Ceasar SpotMicro configuration for CHAMP controller

Refer to CHAMP controller

Requirements

I2C PCA9685 Controller: https://github.com/cholan2100/i2c_pwm_board CHAMP base: https://github.com/chvmp/champ

20 kgcm servos are recommended, cheaper MG996r are underwhelming to support dual leg movements. For MG996r i recommend using other gait implementation here, https://github.com/cholan2100/ceasar.git

Ceasar description

https://github.com/cholan2100/spotmicro_description

Run the controller

1. PCA9685 controller

Configure config/servos_calibration.yaml

2. Run CHAMP controller

roslaunch ceasar_config bringup.launch hardware_connected:=true

3. Eun remote controller

roslaunch champ_teleop teleop.launch joy:=true

NOTE:

Refer to original CHAMP controller for detailed documentation