robot_kinetics_pkgs

ROS packages about robot kinetics(get center of gravity etc..)

packages and nodes

• robot_kinetics
  ├ cog_publisher_node
  ├ foot_publisher_node
• gazebo_robot_kinetics
  ├ from_contact_state_to_wrench_stamped_node

cog_publisher_node

calculate center of gravity from /robot_description parameters and /tf topic

topics and parameters

parameters

• /robot_description
  type : string
• ~publish_frame
  type : string
  default : base_link
• ~publish_rate
  type : int
  default: 50

subscribe topics

• /tf
  message_type : tf2_msgs/TFMessage

publish topics

• /cog/links
  message type : sensor_msgs/PointCloud
  center of gravity in each link
• /cog/robot
  message type : geometry_msgs/PointStamped
  center of gravity in whole robot

foot_state_publisher_node

A ROS node for publishing foot state.

topics and parameters

parameters

• config_filename
  type:string
• foot_id
  type:int (if LEFT=0,RIGHT=1)
• ~publish_frame
  type : string
  default : base_link

subscribe topics

• /tf
  message_type : tf2_msgs/TFMessage

publish topics

• ~/foot_state/corner_points
  message type : sensor_msgs/PointCloud
  corner points of support area
• ~/foot_state/polygon
  publish support area foot polygon
  message_type : geometry_msgs/PolygonStamped
• ~/foot_state
  message_type : robot_kinetics/FootState
  publish foot_state

from_contact_state_to_wrench_stamped_node

A ROS node for converting gazebo/ContactsState message to geometry_msgs/WrenchStamped message

topics and parameters

parameters

subscribe topics

• /robot/contact_states
  message_type : gazebo_msgs/ContactsState

publish topics

• ~/wrentch_stamped
  message_type : geometry_msgs/WrenchStamped