https://github.com/cmower/eff_wrench
ROS 2 node for estimating end-effector wrench.
https://github.com/cmower/eff_wrench
Last synced: about 2 months ago
JSON representation
ROS 2 node for estimating end-effector wrench.
- Host: GitHub
- URL: https://github.com/cmower/eff_wrench
- Owner: cmower
- License: gpl-3.0
- Created: 2023-04-17T15:26:24.000Z (about 2 years ago)
- Default Branch: master
- Last Pushed: 2023-06-08T09:12:24.000Z (almost 2 years ago)
- Last Synced: 2025-02-01T12:08:51.410Z (4 months ago)
- Language: Python
- Size: 21.5 KB
- Stars: 1
- Watchers: 1
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# Estimate end-effector wrench
This ROS package implements a node that estimates the wrench applied at the end-effector (or any given robot link).
## Install
1. Change directory: `$ cd /path/to/your_ws/src`
2. Clone repository
- (ssh) `$ git clone [email protected]:cmower/eff_wrench.git`
3. Change directory: `$ cd /path/to/your_ws`
4. Build workspace: `$ colcon build`
## Node: `estimate_wrench`
### Parameters
* `urdf_file_name` [`str`]: full path to the URDF file.
* `link_name` [`str`]: name of link to estimate wrench (note, this must appear in the URDF).
### Subscribed topics
* `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.
### Published topics
* `wrench` [`geometry_msgs/WrenchStamped`]: the estimated wrench.