opened
SammyRamone
username_0
this adds a node which computes the odometry of the walking based on the actual joint states rather than the commands send by the walking. It should therefore be more accurate
should solve https://github.com/bit-bots/bitbots_motion/issues/54
Currently not tested, therefore a draft
odometry: add node to compute walk odometry
issue
created
SammyRamone
username_0
tested in visualization, but not on robot yet
comment
created
timonegk
username_1
The node would publish odometry for other motions like kick or standing up too
comment
created
NFiedler
username_2
@username_1 that should be tested, but listening on /cmd_vel could resolve that in case it leads to errors.
comment
created
NFiedler
username_2
We need to adapt the odometry fuser.
comment
created
NFiedler
username_2
Currently, there is an issue with short double support phases (if no 'd' message is published). @username_0 , could we solve this by reacting on changes from 'r' to 'l' (and backwards respectively?
comment
created
SammyRamone
username_0
I will rewrite the walk, so that it will only publish the support foot when changing it
comment
created
SammyRamone
username_0
integrated it with the odometry fuser and tested on my machine
comment
created
SammyRamone
username_0
tested on robot works, can be merged
comment