Estimate end-effector wrench

This ROS package implements a node that estimates the wrench applied at the end-effector (or any given robot link).

Install

1. Change directory: $ cd /path/to/your_ws/src
2. Clone repository
   • (ssh) $ git clone [email protected]:cmower/eff_wrench.git
   • (https) $ git clone https://github.com/cmower/eff_wrench.git
3. Install optas. Note, currently OpTaS is not hosted on PyPi - this will change in the future.
4. Change directory: $ cd /path/to/your_ws
5. Build workspace: $ colcon build

Node: estimate_wrench

Parameters

• urdf_file_name [str]: full path to the URDF file.
• link_name [str]: name of link to estimate wrench (note, this must appear in the URDF).

Subscribed topics

• joint_states [sensor_msgs/JointState]: robot joint states. This assumes the joint positions are given in position, and the external torque is given in effort. You may need to implement a parser and remap the joint_states topic for this node.

Published topics

• wrench [geometry_msgs/WrenchStamped]: the estimated wrench.