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isri-aist / BaselineWalkingController

Humanoid walking controller with various baseline methods
https://isri-aist.github.io/BaselineWalkingController
BSD 2-Clause "Simplified" License
110 stars 19 forks source link

Add RosWalk state #26

Closed mmurooka closed 3 months ago

mmurooka commented 3 months ago

This is a state in which the robot walks toward a pose received via ROS topic. It is assumed that the pose obtained from visual recognition is taken by the ROS topic.

https://github.com/isri-aist/BaselineWalkingController/assets/6636600/82589ca2-4436-49e8-b444-1138932c321f

mmurooka commented 3 months ago

The frame_id of the PoseStamped message can be a world or a robot frame name that can be resolved by mc_rtc.