jsk_footstep_controller

footcoords

footcoords publishes three tf frames usefule for biped robots.

• /ground: the middle coordinate of two legs. Two legs are specified by ~lleg_end_coords and ~rleg_end_coords.
• /odom_on_ground: The coordinate computing by projecting /odom on the plane which is defined by /ground frame. The transformation is updated only if the robot on the floow by checking both of lfsensor and rfsensor provides enough force (the threshold is ~force_threshold).
• /odom_init: The coordinate of /odom when the robot lands on the ground most recent.

Subscribing Topics

• lfsensosor (geometry_msgs/WrenchStamped)

• rfsensosor (geometry_msgs/WrenchStamped)

  footcoords computes transformation only if these two topic get the same timestamp.

Publishing Topics

• /tf (tf2_msgs/TFMessage)

• ~state (std_msgs/String):

  State of the robot and it is one of “air”, “ground”, “lfoot” and “rfoot”.

Parameters

• ~output_frame_id (String, default: odom_on_ground)
• ~parent_frame_id (String, default: odom)

• ~midcoords_frame_id (String, default: ground)

  Specifying frame_ids. See above description about these frame_ids.

• ~lfoot_frame_id (String, default: lleg_end_coords)

• ~rfoot_frame_id (String, default: rleg_end_coords)

  frame_ids of end effectors of two legs.

• ~force_threshold (Double, default: 10.0)

  Force threshold to judge which leg is on the ground

• ~lfoot_sensor_frame (String, default: lleg_end_coords)

• ~rfoot_sensor_frame (String, default: lleg_end_coords)

  Transform force sensor rotation respected to these frame ids when evaluating force value. You need to choose reasonable frame_ids which gives positive z-force value when robot stands.

• ~invert_odom_init (Bool, default: true) Broadcast tf of odom_init as parent of odom if ~invert_odom_init is true (odom_init -> odom).

Changelog for package jsk_footstep_controller

0.1.18 (2024-12-09)

0.1.17 (2023-05-28)

0.1.16 (2022-10-27)

• [jsk_footstep_controller] add head-controller.l, add base-controller.l (#758)
• [jsk_footstep_controler/robot-boundingbox.l] remove dependency on jsk_demos/drc_task_common (#764)
• [jsk_control]add queue_size (#735)
• [jsk_footstep_controller] add sole conf for JAXON_BLUE (#690)
• 2to3 -w -fprint . (#763)
• Add melodic support [jsk_footstep_controller] fix a bug in footcoords.cpp due to a bug of boost::assign::list_of (#740)
• [jsk_footstep_controller] install config (#725)
• jsk_footstep_controller: check SoundRequest has volume attribute (#726, #724)
• add missing install directories (#699)
• Contributors: Kei Okada, Koki Shinjo, Masaki Murooka, Naoki Hiraoka, Yasuhiro Ishiguro, Kunio Kojima

0.1.15 (2018-05-16)

0.1.14 (2018-01-15)

0.1.13 (2017-04-18)

• CMakeLists.txt : fix typo on install DESTINATION
• [jsk_footstep_controller] prevent too large footstep refine
• [jsk_footstep_controller] add utilitiy functions and update for footstep_planner
• [jsk_footstep_controller] add keyword for sample footstep client
• [jsk_footstep_contorller] Do not publish odom tf when publish_odom_tf param is false
• [jsk_footstep_contorller] Update footstep params for JAXON
• Contributors: Kei Okada, Yohei Kakiuchi, Iori Kumagai

0.1.12 (2017-02-22)

0.1.11 (2017-02-09)

0.1.10 (2016-12-15)

• [jsk_footstep_controlelr/euslisp/util.l] Add function to gen pointcloud from face list
• [jsk_footstep_controller/euslisp/util.l] Set lfoot rfoot offset based on robot model.
• [jsk_footstep_controller/euslisp/util.l] Add function to get pointcloud included in bodies
• [jsk_footstep_controller/euslisp/util.l,jsk_footstep_planner/euslisp/footstep-planner-client-sample.l] Move footstep action client utility to util.l and rename functions.
• [jsk_footstep_controller] Use plane_projection in footstep_makrer
• [jsk_Footstep_controller] floor detection does not need x/y filter
• [jsk_footstep_controller] Use plane_projection when overwriting go-pos goal
• [jsk_footstep_planner] Add option to wait to subscribe plane topic
• [jsk_footstep_controller] Add plane_projection option, which projects footsteps onto subscribed planes
• [jsk_footstep_controller] Add use_snapshot option for detected floor coefficients topic
• [jsk_footstep_controller] Modified stabilizer_watcher's
• [jsk_footstep_controller] fix go-pos-server.l
• [jsk_footstep_controller] Rename old :is-walking method, which is used for overwrite decision
• [jsk_footstep_controller] Use feedback from go-pos-server to get go-pos-server status from client
• [jsk_footstep_controller] Publish feedback just after planning is failed
• [jsk_footstep_controller] add go-pos-server/client
• [jaxon-footstep-controller.l] move util functions to util.l and refactor functions
• [jsk_footstep_controller] remove temporary file
• [jsk_footstep_controller] Add height_offset param to consider crane and so on
• [jsk_footstep_controller] print name of foot
• [jsk_footstep_controller] print messages when collide footsteps
• [jsk_footstep_controller] Modify footstep collision avoidance in jaxon-footstep-controller.l
• [jsk_footstep_controller] Add instant collision avoidance for refined footsteps
• [jsk_footstep_planner] update footstep_marker for appending footsteps continuously
• [jsk_footstep_controller, footcoords] fix for using waitForSensorFrameTransformation
• [jsk_footstep_planner] Add simple launch file to extract floor and estimate its parameters
• [jsk_footstep_controller] new jsk_recognition_utils::Plane() causes eigen alignment issues in 32bit environment

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