[jsk_footstep_controller] Updated README.md for init_odom
[jsk_footstep_controller] Fix model file loading
[jsk_footstep_controller] Add invert_tf option to broadcast odom_init as parent of odom
not call tf if tilt is absent
[jsk_footstep_controller] Normalize torque with max-joint-torque and use
squared norm to be propotional to temperature
[jsk_footstep_controller] Add sample launch file for root-height.l
[jsk_footstep_controller] Publish plotting data when computing root height
[jsk_footstep_controller] Publish /odom_init_trigger when robot stands
on the ground at the first frame
[jsk_footstep_controller] Compute root-link height according to torque
and manipulability. Original version is implemented by Masaki Murooka
and interface of function is modified to use as library.
fix function name. weight -> root
change footcoords param use_imu->false
[jsk_footstep_planner] Add start-abc button for planner gui using with simulator
[jsk_footstep_controller] Cleanup and omit a lot of features of footstep controller and confirmed with
hrpsys/gazebo simulation
[jsk_footstep_controller/footcoords] Add ~use_imu and ~use_imu_yaw to take
into account orientation from IMU as well as translation of /odom
[jsk_footstep_controller] Say something when robot stands on the ground
[jsk_footstep_planner, controller] Add rviz GUI set for playing with footstep planner
[jsk_footstep_controller] Launch stabilizer_watcher on HRP2 and JAXON
[jsk_footstep_controller/footcoords] Use correct timestamp for zmp tf frame
[jsk_footstep_controller/footcoords] Publish zmp as tf for visualization.
DO NOT USE THIS FRAME FOR PERCEPTION AND PLANNING because the timestamp is not reliable
[jsk_footstep_controller/footcoords] Add odom_init frame which holds the pose when robot is put on the ground
[jsk_footstep_controller/footcoords] Publish body_on_odom frame, which should be useful to represent
sensordate in "Robot-centric-perspective"
[jsk_footstep_controller] Add simple-footstep-controller as the most simplest footstep controller using
:set-foot-steps
[jsk_control/footcoords] Use lfsensor and rfsensor
[jsk_footstep_controller] Add odometry estimation based on leg kinematics.
Three types of naive algorithm are implemented:
1) Estimate support leg from force sensors and keep support leg during double stance phase
2) Estimate support leg from force sensors and change support leg during double stance phase by leg forces
3) Estimate support leg from force sensors and change support leg during double stance phase by zmp
[jsk_footstep_controller] Remove catkin.cmake and use CMakeLists.txt only
[jsk_footstep_controller] Publish synchronized forces from foot_coords and
subscribe it from foot_coords internally.
Update alpha (low pass filter parameter) to 0.1 from 0.5.
Update queu length not to drop messages.
[jsk_footstep_controller] Update parmeter files about footstep configuration
[jsk_footstep_controller] Add script to generate footstep parameter from
euslisp models
[jsk_footstep_planner, jsk_footstep_controller] Update for jaxon terrain
[jsk_footstep_controller] Change gait generator parameters according to
plane condition including pitch angle and taking into account
if transition is upward or downward
[jsk_footstep_planner, jsk_footstep_controller] Compute x and y from
previous coordinates to detect rolled plane
[jsk_footstep_planner, jsk_footstep_controller] Support rolling terrain, I hope
[jsk_footstep_planner, jsk_footstep_controller] Fix typo and update parameter for terrain
[jsk_footstep_controller/lookaround-ground] Do not stretch knee if HRP2 has toe joints
[jsk_footstep_controller/footcoords] More readable error output
[jsk_footstep_planner, jsk_footstep_controller] Support jaxon parameter files
[jsk_footstep_controller] Remove unused parameter
[jsk_footstep_planner, jsk_footstep_controller] Support jaxon footstep planning, Do not merge yet
[jsk_footstep_controller] Support jaxon motion
[jsk_footste_controller] Fix odom_on_ground consistency but ignore correctness during single stance phase
need down-case for URATA robot
[jsk_footstep_controller] Support hrpsys robots in lookaround-ground.l like JAXON
[jsk_footstep_controller] Do not update odom_on_ground in single stance phase
[jsk_footstep_controller] Remove sleep in lookaround-ground.l
[jsk_footstep_controller] Update according to the latest :get-foot-step-param of rtm-robot-interface
[jsk_footstep_controller] Update ground and odom_on_ground periodically rather than synchronizing with force sensors.
Just update contact states from force sensors
[jsk_footstep_controller] Use the latest best gait generator parameters
[jsk_footstep_controller] Remove read-line for debug in lookaround-ground.l
[jsk_footstep_controller] Update pose to look ground: Streching knee and
specify wait pitch directly
[jsk_footstep_controller] Support HRP2JSK, HRP2JSKNT and HRP2JSKNTS
[jsk_footstep_planner] A lot of improvements on planner
* Fix about orientation of projected footstep
* Lazy evaluation to check if footprint is able to be on grid
* Use mid-coords of footprints to evaluate heuristic
[jsk_footstep_planner] Support SimpleOccupancyGrid in footstep planner
[jsk_footstep_controller] Wait for tf transformation to resolve force sensor transformation.
[jsk_footstep_controller] transform force vector to specified frame_id in footcoords
[jsk_footstep_coords] Do not update transformation between ground and odom on ground during dual leg stance phase
0.1.5 (2015-01-08)
Update drcmodel for current planner
Fix poping-up cancel window by broadcasting canceled information
Change threshold according to the footsteps respectively
Wait until contact state is stable during interrubtible-walking
Check contact state is stable or not in footcoords.cpp
Apply low-pass filter to force sensor values
Add script to compute stats about contact_states
Add text publisher about single/double stance phase
Merge remote-tracking branch 'origin/master' into add-breakpoint-text
Conflicts:
jsk_footstep_controller/euslisp/footstep-controller.l
jsk_footstep_controller/launch/hrp2jsknt_real_full.launch
Add text publishing when checking breakpoint
Update forth threshold to 25N to regard the leg is on floor
Add z-error to contact_state of footcoords
check tf2::ExtrapolationException in footcoords
Change walking orbit and the height of the root link according to the plans
Use snapit to snap the goal of footstep to the planes
Change the color of footsteps if there is no planning result
Update footstep parameter for climing up stairs:
larger footstep and smaller footprint
Publish usage of footstep planner joy
Publish conctact state and angular error between two legs as topic
Publish support leg information to diagnostic
During single support phace, ground should on the end effector coordinates
Add documentation about footcoords
Publish /odom_on_ground and /ground tf frame from footcoords
Fix indent of footcoords
Display footstep parameter on rviz
Move down 50 mm during walking and use more larger step for walking
Fix calculation of roll difference
Separate roll and pitch angles to calculate angular difference between
footstep to be refined
Fix refinment of footstep by using relative transformation to the
previous footstep
Refine result of footstep planning by filtering goal of actionlib interface
of footstep planner.
Reset to reset-manip-pose after look around the ground
Contributors: Ryohei Ueda
0.1.4 (2014-10-21)
Refine footsteps to snapped to plane
Add simple motion to look around the floor near from legs and
update minor stuff for the latest EnvironmentPlaneModeling
0.1.3 (2014-10-10)
Add footcoords to jsk_footstep_controller to compute tf like "/odom on ground"
by monitoring foot force sensors
do not run foot_contact_monitor in hrp2jsknt_real.launch. that script will be launched in default startup launch file
0.1.2 (2014-09-08)
0.1.1 (2014-09-04)
fix the menu when walking is canceled and update the pose from joy stick according
to the snapped pose availble by marker
pop menu when cancel the footstep and support resuming from joystick
cancel walking via joystick
update diagnostics information about footstep planning and joy stick stuff
add diagnostics.yaml for footstep environment
add diagnostics_aggregator and use ps3joy in hrp2jsknt_real.launch
add foot contact monitor and initialize the pose of the footstep_marker in hrp2jsknt_real.launch
publish diagnostic status according to the contact state of the feet
add a script to publish /ground frame according to the contact state of the feet
interruptible footstep controller
Merge pull request #52 from garaemon/update-env-server
update usage of env server in footstep planner according to the latest changeset of jsk_recognition
update usage of env server according to the latest changeset of
jsk_recognition
support multiple instances per one plugin class
add interface to get log of footstep
use env server of jsk_pcl_ros
wait controller until it's activated with infinite timeout
add a launch file to start footstep stuff for real robot
fix transformations of coordinates of jsk_footstep_controller
run sample only one time
add more debug messages
fix transformations
transform footstep relative to hrpsys coordinate system
use the first step to adjust coordination system, not use offset parameter
in footstep-controller
refactoring footstep-controller.l
make the codes within 80 columns: footstep-controller.l
fix syntax of footstep-controller.l
foostep_controller: apply offset specified by rosparam
read end-coords-offset in footstep-controller
use config file in sample launch file and add that config file
update footstep successors parameters
add autonomous sample launch file
update several successors parameters
prepend initial footstep and start st first
remove dumb lines to shorten code: footstep-controller.l
fix the argument of execute-cb and fix several trivial syntax errors
add footstep_controller to sample launch file
specify offset and frame_id of the legs to JoyFootstepPlanner
update the foot offset parameter
add sample launch file for hrp2jsknt
remove comment from package.xml
add manifest.xml to jsk_footstep_controller
install launch directory of jsk_footstep_controller