Files

squirrel_footprint_observer

Merge pull request #105 from tpatten/pre_review_snapshot

Apr 3, 2018

bf8ad9f · Apr 3, 2018

Name		Name	Last commit message	Last commit date
parent directory ..
cfg		cfg	update the dynamic reconfigure files	Sep 13, 2017
cmake_modules		cmake_modules	minor	Jul 10, 2017
config		config	Small changes	Mar 14, 2018
doc		doc	updates	Mar 15, 2017
include/squirrel_footprint_observer		include/squirrel_footprint_observer	Small changes	Mar 14, 2018
launch		launch	Saving changes on robotino	Mar 12, 2018
rviz		rviz	rviz config files and better package structure	Aug 2, 2017
src		src	Small changes	Mar 14, 2018
CMakeLists.txt		CMakeLists.txt	Merge pull request #105 from tpatten/pre_review_snapshot	Apr 3, 2018
LICENSE		LICENSE	added a footprint observer	Mar 15, 2017
README.md		README.md	updated readme	Jul 14, 2017
package.xml		package.xml	changed .cfg names to PascalCase	Sep 15, 2017

README.md

squirrel_footprint_observer

Update the footprint of the robot according to arm configuration.

Nodes

The package provide a single node

squirrel_footprint_observer_node: Run the footprint observer.

Parameters

~/base_frame_id: The frame of the robot base.
~/base_radius: The radius of the robot base (if circular).
~/joint_chain: The chain of frames realated to the arm.
~/joint_radius: The radius of a sphere circumscribing the arm joint.

See robotino_footprint.yaml as example.

Advertised Services

Uses messages provieded by squirrel_footprint_observer_msgs

~/getFootprint: Retrieve the current footprint of the robot.
~/dumpFootprint: Print footprint on file or stdout/stderr as well as on a file.

Advertised Topics

~/footprint(geometry_msgs/PolygonStamped): The current footprint.

Subscriptions

/tf: the transformations from base_frame_id to the frames specified in joint_chain.
~/enable (std_msgs/Bool): Toggle the constant update of the footprint observer. Disable ~/footprint to be published while the service ~/getFootprint remains active.