SEROW (State Estimation RObot Walking) Framework for Humanoid Robot Walking Estimation. The code is open-source (BSD License). Please note that this work is an on-going research and thus some parts are not fully developed yet. Furthermore, the code will be subject to changes in the future which could include greater re-factoring.
These instructions will get you a copy of the project up and running on your local machine for development and testing purposes.
- Ubuntu 14.04 and later
- ROS indigo and later
- Eigen 3.2.0 and later
- hrl_kinematics
- git clone https://github.com/ahornung/hrl_kinematics.git
- git clone https://github.com/mrsp/serow.git
- catkin_make
- 3D-Body Position/Orientation/Velocity
- 3D-Support Foot Position/Orientation
- IMU biases
- Robot State Publisher (e.g. topics: /joint_states, /tf)
- IMU (e.g. topic /imu0)
- Feet Force Sensors for detecting contact (e.g. topic: /left_leg/force_torque_states, /right_leg/force_torque_states)
- 3D-Body Position/Orientation/Velocity
- 3D-Support Foot Position/Orientation
- IMU biases
- 3D-CoM Position/Velocity
- 3D-External Forces on CoM
- Robot State Publisher (e.g. topics: /joint_states, /tf)
- IMU(e.g. topic /imu0)
- Feet Force Sensors + Center of Pressure (COP) measurements in the local foot frame (e.g. topics /left_leg/force_torque_states, /right_leg/force_torque_states, /left_leg/COP, /right_leg/COP)
If your robot is employed with feet force sensors and you have available a measurement for each sensor, then you can use our humanoid_fsr package to compute the COP and Force/Torque measurements in each leg. This package automatically generates the required by SEROW /left_leg/force_torque_states, /right_leg/force_torque_states, /left_leg/COP, /right_leg/COP topics.
- Download the valkyrie bag file from valk_bagfile
- roscore
- rosbag play -s 1.0 --pause valk.bag
- roslaunch humanoid_state_estimation humanoid_estimator_driver_valkyrie.launch
- hit space to unpause the rosbag play
- Download the nao bag file from nao_bagfile
- roscore
- rosbag play --pause nao.bag
- roslaunch humanoid_state_estimation humanoid_estimator_driver_nao.launch
- hit space to unpause the rosbag play
- Specify topics on config/estimation_params.yaml
- roslaunch humanoid_state_estimation humanoid_estimator_driver.launch
- roslaunch rqt_reconfigure rqt_reconfigure (If you want to reconfiqure filter params online -> easy tuning).