Crocoddyl ROS messages

Introduction

This repository provides ROS messages and Python bindings for Crocoddyl's solver diagnostics (i.e., SolverStatistics), computed trajectories (i.e., SolverTrajectory) and whole-body state and trajectory (i.e., WholeBodyState and WholeBodyTrajectory, respectively). The SolverTrajectory message is designed to be able to retrieve the values of state, control and feedback gain along each time interval. Instead, the WholeBodyState and WholeBodyTrajectory messages are designed to receive and display (via the whole_body_rviz_plugin) the robot's whole-body state.

Furthermore, the Python bindings of publishers and subscribers using roscpp help to increase communication performance while still using Python.

🐧 Building

crocoddyl_msgs has the following dependencies:

• std_msgs
• whole_body_state_msgs
• realtime_tools
• pybind11 (we wrap it in ROS1 via pybind11_catkin)
• Eigen
• pinocchio

To compile this catkin/colcon project you need to do:

    cd your_ros_ws/
    catkin build # ROS1
    colcon build # ROS2

Note that this package supports ROS1 and ROS2.

©️ Credits

✍️ Written by

• Carlos Mastalli, Heriot-Watt University 🇬🇧
• Wolfgang Merkt, University of Oxford 🇬🇧

and maintained by the Robot Motor Intelligence (RoMI) lab.