Hexapod Make 2

Make 2

uses dynamixel XL430 servos.
24 dof
the same control system as Make 1.
runs on a Jetson Xavier NX.
has a 2d lidar ~ 10Hz
has a stereo depth camera (realsense D435i)
experimented with running SLAM stack on ros using the two sensors: https://www.youtube.com/watch?v=-N8fmfxq5lY
played around with hector slam for 2d lidar, rtabmap, VINS-Fusion (https://github.com/HKUST-Aerial-Robotics/VINS-Fusion)
got familar with the high level organization of the ROS stack.
later removed one dof from each leg for faster IK computation.
control software capability (even ground mode): https://www.youtube.com/watch?v=li7Eii5mxpQ