YARP architecture for the human dynamics estimation about human-dynamics-estimation HOT 6 CLOSED

I've added the RFmodule I've written (xsens-tf-bridge) to the architecture. It allows to publish Xsens segments frames on RViz, the ROS 3D visualizer. To publish the force plates and the iCub frames we are planning to employ already existing yarp modules. Once the human-dynamics-estimator works in real-time, the idea will be to publish on RViz even the information about dynamics.

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cc @diegoferigo @MartaLorenzini To understand where we can include the visualization.

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For the external wrenches we would like to have:

• the value
• the frame with respect to which it is expressed
• the link on which it's applied

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For the module related to the human kinematics, the inputs are:

• the raw data coming from Xsens acquisition
• a generic template for the human model

As the output of the module we would like to have also the specific model for the subject who performed the experiment.

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Done by ddfb721

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