HX-LEG-06v1.0
Prowler is a complete ROS 2 package suite for simulating and controlling a six-legged robot. 18 degrees of freedom across 6 legs (coxa · femur · tibia), tripod gait controller, full Gazebo Ignition simulation, and a Nav2 autonomous navigation stack in progress.
specifications
languagePython / C++
platformROS 2 · Gazebo
statusactive
year2025
operating conditions
in → terrain + goal pose
out → stable locomotion
ROS 2GazeboURDF/XacroLiDARSLAM
hardware
legs6 in radial pattern
DOF18 joints (3 per leg: coxa · femur · tibia)
gaitTripod (3 legs swing, 3 legs stance)
simulationGazebo Ignition + RViz2
sensingLiDAR · computer vision (planned)
SLAMSLAM Toolbox (in progress)
ros2 packages
hexapod_descriptionURDF/Xacro model, STL meshes, Gazebo integration, physics collision
hexapod_controlTripod gait algorithm, joint state publisher, keyboard teleop
hexapod_gzGazebo Ignition world files and launch configs
hexapod_navigationNav2 + SLAM Toolbox, path planning, obstacle avoidance (in progress)
gallery6 frames