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46 lines
1.4 KiB
46 lines
1.4 KiB
2 months ago
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# Whole-body state ROS messages
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## <img align="center" height="20" src="https://i.imgur.com/vAYeCzC.png"/> Introduction
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A whole-body state describes the entire information of an arbitrary robotic system. This state is broken in three pieces: centroidal, joint and contact state.
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The centroidal state describes:
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1. the position and velocity of the center of mass,
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1. base orientation and its angular velocity, and
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1. whole-body momenta and its rate.
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Instead, the contact state describes:
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1. Type of contact (locomotion / manipulation)
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1. Name of the contact frame
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1. Pose of the contact,
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1. Twist of the contact,
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1. Wrench of the contact,
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1. Surface normal and friction coefficient.
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With these basic states, the package also describes a whole-body trajectory. Additionally, it defines a whole-body control message which contains desired and actual states.
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## :penguin: Building
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The whole_body_state_msgs is a catkin/colcon project which can be built as:
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```bash
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cd your_ros_ws/
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catkin build # ROS1
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colcon build # ROS2
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```
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Note that this package supports ROS1 and ROS2.
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## :copyright: Credits
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### :writing_hand: Written by
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- [Carlos Mastalli](https://romilab.org), Heriot-Watt University :uk:
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### :construction_worker: With contributions from
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- [Wolfgang Merkt](http://www.wolfgangmerkt.com/research/), University of Oxford :uk:
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and maintained by the [Robot Motor Intelligence (RoMI)](https://romilab.org) lab.
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