mrsp / serow Goto Github PK

Dear Serow's developer,

Thank you for your wonderful library. We test the Serow library in our Linux Ubuntu 16.04 LTS PC and only the NAO bag could work, the Valkyrie bag is running without any error but not showing anything by serow_utils in rviz.

We do follow what you did in structure and follow what you write for NAO urdf and config/estimation_params.yaml but the result is similar to the Valkyrie bag. There is no error but also not showing any result by serow_utils display in in rviz.

Do you know what should we do to avoid this issue? Thank you!

I try to estimate CoM, CoP, linear momentum and its derivative, angular momentum and its derivative online. Would your software be possible to do that?

Another issue I try to install your software. I installed pinocchio library, but the error appears like following while installing serow?

CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
  Could not find a package configuration file provided by "pinocchio" with
  any of the following names:

    pinocchioConfig.cmake
    pinocchio-config.cmake

  Add the installation prefix of "pinocchio" to CMAKE_PREFIX_PATH or set
  "pinocchio_DIR" to a directory containing one of the above files.  If
  "pinocchio" provides a separate development package or SDK, be sure it has
  been installed.
Call Stack (most recent call first):
  serow/CMakeLists.txt:8 (find_package)


-- Could not find the required component 'pinocchio'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "pinocchio" with
  any of the following names:

    pinocchioConfig.cmake
    pinocchio-config.cmake

  Add the installation prefix of "pinocchio" to CMAKE_PREFIX_PATH or set
  "pinocchio_DIR" to a directory containing one of the above files.  If
  "pinocchio" provides a separate development package or SDK, be sure it has
  been installed.
Call Stack (most recent call first):
  serow/CMakeLists.txt:8 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/jack/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/jack/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

Can you help me solve it?

Hi,

Thank you for sharing your work.I want to use serow on my quadruped robot.I have change some parameters in serow/config/estimation_params_centauro.yaml to fit my roboT thesedays.My robot in gazebo can provide imu_topic ,joint_states and the contact_force.But the result is not very good.I wonder that how can I set the parameters in the yaml ?
There is picture of my trial.
I'm looking forward to your reply.Thank you.

Hello , I'm doing state estimation on quadruped robot, and I have some problem on calculate.
I read your code struct and thesis , and apply some experiment from your code,and I just want to know how to subscribe all topic and don't miss anyone.

I use IMU+joint_states+foot_sensors try to calculate my baselink's move, imu is 100hz, joints have 50hz, 4 foot_sensor have 50hz , but there alway exists error result when sometimes can't subscribe /joint_states, so I try to Synchronize , but it can't work.
https://answers.ros.org/question/322951/synchronize-imu-joint_states-foot_sensor-errors/

Can you give me some advice on how to avoid missing /joint-states msg?
Thank you very much!

as above, thank you very much !!

Hello and thank you for a great repo!

In my research I'm testing the SEROW on a consumer-grade quadruped robot.
Performance with IMU/leg_odometry looks good!
But the robot drifts in vertical position, which is expected if not using the visual odometry or other bias correction.

So I need to update the estimator Kalman core with direct position measurement coming from visual system.
The problem is that the realization of updatePositionOrientation() in a quadruped mode looks copy-pasted from biped mode and then commented and abandoned.
It's not clear from the code how to rearrange the required matrices to port the biped updatePositionOrientation() to a quadruped mode.
Could you please provide some support on this topic?