[Documentation] [TitleIndex] [WordIndex


Rhoeby is a ROS-enabled, Navigation-capable hexapod robot based on the Robotis Bioloid kit. It supports SLAM, Navigation and Obstacle Avoidance using low-cost, light-weight 2D Scanning technology available from Rhoeby Dynamics (see website: http://www.rhoeby.com).


Package Summary

The ROS driver is implemented as a single node which performs all publishing and subscribing functions. This helps to reduce the processing load on lesser-capable systems.

Author: John Jordan, Rhoeby Dynamics

License: BSD.



1. Published Topics




2. Subscribed Topics


Hardware Used

Software Features


The hexapod_ros package has been tested on: ROS Hydro, ROS Indigo releases.

ROS driver code on github:

CM9.04 binary on github:

ROS Package installation:

  1. install robot_pose_ekf
  2. copy hexapod_ros into catkin workspace
  3. do 'catkin_make'


Download SensoDuino app to phone (Nexus 4, or other Android device), see:


1. Start roscore:

2. Connect to phone (after starting SensoDuino):

3. Run the hexapod_ros node:

4. Start gmapping (for example):

2024-06-08 12:38