State Estimation Messaging - openhumanoids/oh-distro GitHub Wiki

The messaging for state estimation with Valkyrie can remain largely the same as for the Atlas

Mode 1:

This is only for Atlas, used since 2014. Note that state-sync will need to be entirely re-written for Val as it contains hardware specific features e.g. using the duplicate Atlas arm sensors: State Estimation Mode 1

Mode 2:

The mode that allows use of IHMC's controller via a ROS translator - with pronto providing an alternative state estimate: State Estimation Mode 2

Mode 3:

This mode is really only for running off of logs. It uses the same signals exposed by ros_control but provided by NASA's ROS messages: State Estimation Mode 3

Mode 4:

This is the target for Valkyrie. State Estimation Mode 4

Update 19 Jan 2016 These are the final signal names and types:

  • VAL_CORE_ROBOT_STATE: drc::joint_states_t
  • VAL_IMU_*: drc::ins_t (was mav::ins_t)
  • VAL_FORCE_TORQUE: drc::six_axis_force_torque_array_t
  • VAL_COMMAND_FEEDBACK: drc::joint_angles_t
  • ROBOT_COMMAND: currently drc::atlas_command_t, TBD as controller comes online