Summary

This package is Forward kinematics for Stewart Platform on ROS Noetic

Usage

rosrun fk-for-stewart-platform-ros fk.py

The period of the node is 100 Hz, and when all the motor values are updated, the current position is calculated and broadcast to the topic.

• input topic

  /motor_{number}/joint_states ## JointState type
  

• output topic

  /stewart/curr_pos           ## Twist type
  

Origin Repo

fork at https://jak-o-shadows.github.io/electronics/stewart-gough/stewart-gough.html