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).

BSD