Troubleshooting

Leg 1
servo motor 1 -> channel 19
servo motor 2 -> channel 1
servo motor 3 -> channel 2

Leg 2
servo motor 4 -> channel 3
servo motor 5 -> channel 4
servo motor 6 -> channel 5

Leg 3
servo motor 7 -> channel 6
servo motor 8 -> channel 7
servo motor 9 -> channel 8

Leg 4
servo motor 10 -> channel 9
servo motor 11 -> channel 18
servo motor 12 -> channel 11

Leg 5
servo motor 13 -> channel 12
servo motor 14 -> channel 13
servo motor 15 -> channel 14

Leg 6
servo motor 16 -> channel 15
servo motor 17 -> channel 16
servo motor 18 -> channel 17

If you check the launch file of the spider. You are going to find the following lines:

  <param name="leg4_2" type="int" value="18"/>
  <param name="leg1_1" type="int" value="19"/>

This lines maps a servo motor in a special position of the maestro controller. In this case because of some problems eith the controller:

  • the leg 1 servo 1 has to be connected in the rail 19
  • the leg 4 servo 2 has to be connected in the rail 18.