No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 0.1.15
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_control.git
VCS Type git
VCS Version master
Last Updated 2019-04-16
Dev Status DEVELOPED
Released RELEASED

Package Description

The jsk_footstep_controller package

Additional Links

No additional links.

Maintainers

  • Ryohei Ueda

Authors

No additional authors.

jsk_footstep_controller

footcoords

footcoords.png jaxon_odom_init.png

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

Could not convert RST to MD: No such file or directory - pandoc

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

Plugins

No plugins found.

Recent questions tagged jsk_footstep_controller at answers.ros.org

Package Summary

Tags No category tags.
Version 0.1.15
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_control.git
VCS Type git
VCS Version master
Last Updated 2019-04-16
Dev Status DEVELOPED
Released RELEASED

Package Description

The jsk_footstep_controller package

Additional Links

No additional links.

Maintainers

  • Ryohei Ueda

Authors

No additional authors.

jsk_footstep_controller

footcoords

footcoords.png jaxon_odom_init.png

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

Could not convert RST to MD: No such file or directory - pandoc

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

Plugins

No plugins found.

Recent questions tagged jsk_footstep_controller at answers.ros.org

No version for distro ardent. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 0.1.15
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_control.git
VCS Type git
VCS Version master
Last Updated 2019-04-16
Dev Status DEVELOPED
Released RELEASED

Package Description

The jsk_footstep_controller package

Additional Links

No additional links.

Maintainers

  • Ryohei Ueda

Authors

No additional authors.

jsk_footstep_controller

footcoords

footcoords.png jaxon_odom_init.png

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

Could not convert RST to MD: No such file or directory - pandoc

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

Plugins

No plugins found.

Recent questions tagged jsk_footstep_controller at answers.ros.org

Package Summary

Tags No category tags.
Version 0.1.15
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_control.git
VCS Type git
VCS Version master
Last Updated 2019-04-16
Dev Status DEVELOPED
Released RELEASED

Package Description

The jsk_footstep_controller package

Additional Links

No additional links.

Maintainers

  • Ryohei Ueda

Authors

No additional authors.

jsk_footstep_controller

footcoords

footcoords.png jaxon_odom_init.png

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

Could not convert RST to MD: No such file or directory - pandoc

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

Plugins

No plugins found.

Recent questions tagged jsk_footstep_controller at answers.ros.org