foot_contact_monitor.py File Reference

Go to the source code of this file.

Namespaces
namespace	foot_contact_monitor
Functions
def	foot_contact_monitor.callback
def	foot_contact_monitor.computeEndCoords
def	foot_contact_monitor.contactStateDiagnostic
def	foot_contact_monitor.offsetPose
def	foot_contact_monitor.publishMidCoords
def	foot_contact_monitor.publishSingleCoords
Variables
tuple	foot_contact_monitor.force_thr = rospy.get_param('~force_thr', 100)
	foot_contact_monitor.g_contact_state = None
tuple	foot_contact_monitor.ground_frame = rospy.get_param('~ground_frame', 'ground')
tuple	foot_contact_monitor.ground_parent_frame = rospy.get_param('')
tuple	foot_contact_monitor.lfoot_frame = rospy.get_param('~lfoot_frame_id')
tuple	foot_contact_monitor.lfoot_offset = rospy.get_param('~lfoot_endcoords_offset')
tuple	foot_contact_monitor.lfoot_sub = message_filters.Subscriber('/off_lfsensor', WrenchStamped)
tuple	foot_contact_monitor.parent_frame = rospy.get_param('~parent_frame', 'BODY')
tuple	foot_contact_monitor.rfoot_frame = rospy.get_param('~rfoot_frame_id')
tuple	foot_contact_monitor.rfoot_offset = rospy.get_param('~rfoot_endcoords_offset')
tuple	foot_contact_monitor.rfoot_sub = message_filters.Subscriber('/off_rfsensor', WrenchStamped)
tuple	foot_contact_monitor.tf_listener = tf.TransformListener()
tuple	foot_contact_monitor.ts = message_filters.TimeSynchronizer([lfoot_sub, rfoot_sub], 100)
tuple	foot_contact_monitor.updater = diagnostic_updater.Updater()