cardiffuniversitycomputationalrobotics / a1_pose

Publishes poses for Unitree A1.

a1_pose

This package is in charge of publishing both the joints for the A1 real-world robot and additionally uses other packages to publish the odometry transform and data.

Joints States

To publish the joint states, the node in a1_joint_states.py is used, which has the following publishers and subscribers.

Publishers

• /joint_states (sensor_msgs/JointState)

• /foot_contacts (champ_msgs/ContactsStamped)

  Shows which feet of the robot are supporting the robot against a surface.

Subscribers

• /feet_forces (unitree_legged_msgs/FeetForces)

  Expresses the force exerted in the foot of the robot in the Z axis.

• /feet_polygon (geometry_msgs/PolygonStamped)

  Expresses the position of the end of the robot's feet.

Odometry

Additionally, to estimate odometry, we use the node state_estimation_node from champ_base package which publishes the odom transform and the data to the topic odom/raw.

For a complete execution of all the mentioned above, check the launch file a1_pose.launch in this package.

a1_pose's Issues

Inverse kinematics in get_leg_joint not correct

There is a function called get_leg_joint in the a1_joint_states.py. It is supposed to compute the positions of the joints but it is not complete, not all axis are correct, they are restricted to look right.