https://github.com/advrhumanoids/robot_inertia_publisher
ROS package to broadcast inertial robot params and visualize them in RVIZ
https://github.com/advrhumanoids/robot_inertia_publisher
Last synced: about 1 month ago
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ROS package to broadcast inertial robot params and visualize them in RVIZ
- Host: GitHub
- URL: https://github.com/advrhumanoids/robot_inertia_publisher
- Owner: ADVRHumanoids
- Created: 2019-07-21T15:41:28.000Z (almost 6 years ago)
- Default Branch: master
- Last Pushed: 2022-03-23T15:03:22.000Z (about 3 years ago)
- Last Synced: 2023-08-04T03:06:12.268Z (almost 2 years ago)
- Language: Python
- Size: 276 KB
- Stars: 5
- Watchers: 3
- Forks: 3
- Open Issues: 0
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Metadata Files:
- Readme: README.md
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README
robot_inertia_publisher
=======================
Overview
--------
The ```robot_inertia_publisher``` permits to broadcast and visualize in RVIZ inertial information retrieved from the URDF description of a robot.
Inertia of the single link is visualized as ellipsoid aorund a spehere which represents the cog of the link.
Node API
--------
### Published Topics
- ```link_inertias``` ([InertiaWithLinkArray][1])
- ```link_inertias_viz``` ([MarkerArray][2])
- ```total_mass``` ([Float32])
### Parameters
- ```robot_description``` (```String```, default: ```robot_description```)
- ```tf_prefix``` (```String```, default: None)
[1]: https://github.com/ADVRHumanoids/robot_inertia_publisher/blob/master/msg/InertiaWithLinkArray.msg "InertiaWithLinkArray"
[2]: http://docs.ros.org/melodic/api/visualization_msgs/html/msg/MarkerArray.html "MarkerArray"