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[WIP] auto-stabilizer for jaxon weel #1122

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40afb9c
add landing position port
YutaKojio May 24, 2019
1a20171
publish next footstep rot
YutaKojio May 31, 2019
64f94dc
publish steppable region
YutaKojio Jun 5, 2019
7bff1a5
publish end_cog_state
YutaKojio Aug 23, 2019
aa1b144
publish is_stuck state
YutaKojio Dec 13, 2019
54dfbbe
publish estimated fxy
YutaKojio Dec 13, 2019
dfb0453
publish /use_flywheel
YutaKojio Jan 9, 2020
ca54b04
remove stabilizer service
YutaKojio Jun 2, 2020
63a8d78
fix bug; enable set st param from eus
YutaKojio Nov 11, 2020
7ad0940
[rtm-ros-robot-interface.l]fix bug in :cmd-vel-cb
Naoki-Hiraoka Dec 1, 2020
c5691b9
[rtm-ros-robot-interface.l]add comment to :go-velocity
Naoki-Hiraoka Dec 1, 2020
dbbf0c8
[rtm-ros-robot-interface.l] fix bug in :cmd-vel-mode
Naoki-Hiraoka Dec 1, 2020
624afed
Merge pull request #1 from Naoki-Hiraoka/auto-stabilizer
YutaKojio Dec 1, 2020
1cebe4e
publish current steppable region for debug
YutaKojio Dec 11, 2020
facea76
[HrpsysSeqStateROSBridge.cpp] set body to reference angle when Goal c…
Naoki-Hiraoka Dec 29, 2020
f81550b
support samplerobot
YutaKojio Jun 8, 2021
8eef1f8
Merge branch 'master' of github.com:start-jsk/rtmros_common into auto…
YutaKojio Jul 17, 2021
f889b03
add go-wheel
YutaKojio Jun 16, 2021
a6a117f
consider z in steppable region
YutaKojio Aug 18, 2021
4c60446
fix bug on vs_num size
YutaKojio Aug 18, 2021
f0b72cb
add go-pos-wheel
YutaKojio Aug 27, 2021
d7c584f
change wheel interpolation
YutaKojio Oct 2, 2021
04da17f
change go-pos-wheel
YutaKojio Oct 2, 2021
26de395
add waitFootSteps to go-wheel
Oct 27, 2021
c14f734
[hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] fix description…
ketaro-m Oct 28, 2021
c341efc
[hrpsys_ros_bridge/euslisp/datalogger-log-parser.l] fix :update-state…
ketaro-m Oct 28, 2021
b4a8e90
Merge branch 'auto-stabilizer' of github.com:YutaKojio/rtmros_common …
YutaKojio Nov 24, 2021
360573e
change st_* to abc_* in datalogger-log-parser.l
YutaKojio Nov 24, 2021
0adae7b
Merge branch 'fix-eus-reference-force-vector' of github.com:ketaro-m/…
YutaKojio Nov 24, 2021
e23632a
[scripts/sensor_ros_bridge_connect.py] ros topic ref_**sensor after ES
ketaro-m Nov 26, 2021
b2b0c24
Merge pull request #2 from ketaro-m/rfu-es-order
YutaKojio Nov 26, 2021
84e7fe8
Merge branch 'auto-stabilizer' of github.com:YutaKojio/rtmros_common …
YutaKojio Dec 3, 2021
cc0992e
add set-foot-step-with-wheel
YutaKojio Dec 8, 2021
d055b7e
add jump-to
YutaKojio Dec 17, 2021
d760098
merge auto-stabilizer
YutaKojio Jan 19, 2022
b3105e5
Merge pull request #3 from Naoki-Hiraoka/PR-link-Rs
YutaKojio Mar 8, 2022
d2c321b
Merge branch 'auto-stabilizer-archive' of github.com:YutaKojio/rtmros…
kindsenior Apr 22, 2022
0d0269d
Merge remote-tracking branch 'hiraoka/fix-fullbody-controller' into a…
Masanori-Konishi Jun 16, 2022
b5f5a1d
[rtm-ros-robot-interface.l] add go-wheel-no-wait
Masanori-Konishi Jun 16, 2022
3420abe
Merge pull request #3 from Masanori-Konishi/auto-stabilizer-wheel-fix…
kindsenior Jul 13, 2022
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6 changes: 3 additions & 3 deletions hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l
Original file line number Diff line number Diff line change
@@ -1481,7 +1481,7 @@
))
(:go-velocity
(vx vy vth)
"Call goVelocity."
"Call goVelocity. vx[m/s], vy[m/s], and vth[deg/s]"
(send self :autobalancerservice_goVelocity :vx vx :vy vy :vth vth))
(:go-stop
()
@@ -1667,14 +1667,14 @@
(send self :go-velocity
(* vel-x-ratio (send (send msg :linear) :x))
(* vel-y-ratio (send (send msg :linear) :y))
(* vel-th-ratio (send (send msg :angular) :z)))
(* vel-th-ratio (rad2deg (send (send msg :angular) :z))))
)
(:cmd-vel-mode
()
"Walk with subscribing /cmd_vel topic."
(send self :start-cmd-vel-mode)
(send self :go-velocity 0 0 0)
(do-until-key
(send self :go-velocity 0 0 0)
(ros::spin-once)
(ros::sleep)
)