Add joint state with acceleration fields

ori-drs / pronto

Pronto - Legged Robot State Estimator - libraries, ROS wrapper and messages

GNU Lesser General Public License v2.1

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Add joint state with acceleration fields #36

Closed wxmerkt closed 3 years ago

wxmerkt commented 3 years ago

Adds an JointStateWithAcceleration message based on sensor_msgs/JointState with an acceleration field added.

The PR also adds ImuBiasLock and LegOdoHandler with the new messages. Using joint acceleration in the inverse dynamics based GRF estimation reduces error during flight phases on Anymal by 50%.