We need a kinematic node for the Triped visualisation in Rviz.
This node should take in the ROS topics for the joint states : /leg_i/swing/left(right)/joint/joint_states/ .
Then read the position of the joint state message.
From there the Kinematics of the Triped should be calculated.
The node should output the topics /tf_static and /tf.
Both publish geometrymsgs/TransformStamped[], the elements are geometrymsgs/TransformStamped, with:
a child_frame_id: string, with the name of the respective Link in the urdf model. e.g. chassis for the chassis link in the /tf_static topic, or leg_1_open in /tf.
a header: stdmsgs/header with
-- frame_id: string name of the parent link, e.g. base_link for the chassis link
-- seq: stamp, 0
-- stamp: time
a transform: geometrymsgs/Transform, with
--rotation: Quaternion
--translation: Vector3
the /tf_static contains only the chassis link, and the /tf topic contains all other links of the urdf, excluding the base_link.
See also: http://wiki.ros.org/robot_state_publisher
Ibidu
commented
2 years ago
We need a kinematic node for the Triped visualisation in Rviz. This node should take in the ROS topics for the joint states : /leg_i/swing/left(right)/joint/joint_states/ . Then read the position of the joint state message. From there the Kinematics of the Triped should be calculated. The node should output the topics /tf_static and /tf. Both publish
geometrymsgs/TransformStamped[], the elements aregeometrymsgs/TransformStamped, with:a
child_frame_id: string, with the name of the respective Link in the urdf model. e.g.chassisfor the chassis link in the /tf_static topic, orleg_1_openin /tf.a
header: stdmsgs/header with -- frame_id: string name of the parent link, e.g.base_linkfor thechassislink -- seq: stamp, 0 -- stamp: timea
transform: geometrymsgs/Transform, with --rotation: Quaternion --translation: Vector3the /tf_static contains only the
chassislink, and the /tf topic contains all other links of the urdf, excluding thebase_link. See also: http://wiki.ros.org/robot_state_publisher