{"id":17334272,"url":"https://github.com/cmower/eff_wrench","last_synced_at":"2025-06-27T17:35:56.094Z","repository":{"id":173606441,"uuid":"629083327","full_name":"cmower/eff_wrench","owner":"cmower","description":"ROS 2 node for estimating end-effector wrench.","archived":false,"fork":false,"pushed_at":"2023-06-08T09:12:24.000Z","size":22,"stargazers_count":2,"open_issues_count":0,"forks_count":1,"subscribers_count":1,"default_branch":"master","last_synced_at":"2025-03-27T06:46:20.518Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"gpl-3.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/cmower.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2023-04-17T15:26:24.000Z","updated_at":"2025-02-27T12:51:22.000Z","dependencies_parsed_at":null,"dependency_job_id":"b6a6814a-2efb-489f-a323-865326028fee","html_url":"https://github.com/cmower/eff_wrench","commit_stats":{"total_commits":8,"total_committers":2,"mean_commits":4.0,"dds":0.125,"last_synced_commit":"6a611922b1823b0393fd2e48f0e4af4c29f8a511"},"previous_names":["cmower/eff_wrench"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/cmower/eff_wrench","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/cmower%2Feff_wrench","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/cmower%2Feff_wrench/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/cmower%2Feff_wrench/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/cmower%2Feff_wrench/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/cmower","download_url":"https://codeload.github.com/cmower/eff_wrench/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/cmower%2Feff_wrench/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":262302505,"owners_count":23290275,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-10-15T15:05:36.215Z","updated_at":"2025-06-27T17:35:56.009Z","avatar_url":"https://github.com/cmower.png","language":"Python","readme":"# Estimate end-effector wrench\n\nThis ROS package implements a node that estimates the wrench applied at the end-effector (or any given robot link).\n\n## Install\n\n1. Change directory: `$ cd /path/to/your_ws/src`\n2. Clone repository\n   - (ssh) `$ git clone git@github.com:cmower/eff_wrench.git`\n3. Change directory: `$ cd /path/to/your_ws`\n4. Build workspace: `$ colcon build`\n\n\n## Node: `estimate_wrench`\n\n### Parameters\n\n* `urdf_file_name` [`str`]: full path to the URDF file.\n* `link_name` [`str`]: name of link to estimate wrench (note, this must appear in the URDF).\n\n### Subscribed topics\n\n* `joint_states` [`sensor_msgs/JointState`]: robot joint states. This assumes the joint positions are given in `position`, and the external torque is given in `effort`. You may need to implement a parser and remap the `joint_states` topic for this node.\n\n### Published topics\n\n* `wrench` [`geometry_msgs/WrenchStamped`]: the estimated wrench.\n","funding_links":[],"categories":[],"sub_categories":[],"project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fcmower%2Feff_wrench","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fcmower%2Feff_wrench","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fcmower%2Feff_wrench/lists"}