Now assumes CORE_ROBOT_STATE and FORCE_TORQUE

ATLAS_STATE has been deprecated
ipab-slmc · Oct 26, 2015 · 898222b · 898222b
1 parent 19f69c7
commit 898222b
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Showing 7 changed files with 24 additions and 20 deletions.
diff --git a/README.rst b/README.rst
@@ -205,14 +205,15 @@ On ROS Indigo the follow contents should be added to bashrc:
 
   export PATH=/home/drc/pronto-distro/build/bin:$PATH
   source /opt/ros/indigo/setup.bash
-  export PKG_CONFIG_PATH=<insert-path-to>/pronto-distro/build/lib/pkgconfig/:<insert-path-to>/pronto-distro/build/lib64/pkgconfig/:$PKG_CONFIG_PATH
-  export LD_LIBRARY_PATH=<insert-path-to>/pronto-distro/build/lib/:<insert-path-to>/pronto-distro/build/lib64/:$LD_LIBRARY_PATH
+  export PKG_CONFIG_PATH=<your-path-to>/pronto-distro/build/lib/pkgconfig/:<insert-path-to>/pronto-distro/build/lib64/pkgconfig/:$PKG_CONFIG_PATH
+  export LD_LIBRARY_PATH=<your-path-to>/pronto-distro/build/lib/:<insert-path-to>/pronto-distro/build/lib64/:$LD_LIBRARY_PATH
+  export DRC_BASE=<your-path-to>/pronto-distro
 
 This is a super set, not all of these are required. The package can then be compiled using catkin:
 
 ::
 
-  cd <insert-path-to>/pronto-lcm-ros-translators
+  cd <insert-path-to>/pronto-distro/pronto-lcm-ros-translators
   catkin_make
   source <insert-path-to>/pronto-distro/pronto-lcm-ros-translators/devel/setup.bash
 

diff --git a/config/config_components/state_estimation_mit.cfg b/config/config_components/state_estimation_mit.cfg
@@ -24,7 +24,7 @@ state_estimator {
   republish_sensors = false; # if using a log, otherwise make s
 
   # ins,vicon, pose_meas
-  init_sensors = ["ins","viewer"];
+  init_sensors = ["ins","pose_meas"];
   # laser_gpf, ins, rgbd_gpf, fovis, legodo , vicon, pose_meas
   active_sensors = ["ins","legodo", "scan_matcher"];
 
@@ -268,7 +268,7 @@ state_estimator {
 
   legodo {
 
-    channel = "ATLAS_STATE";
+    channel = "CORE_ROBOT_STATE";
     # lin_rate           linear velocities
     # lin_rot_rate       linear and rotation rates i.e. velocities
     # pos_and_lin_rate   position and linear velocities
@@ -314,8 +314,9 @@ state_estimator {
     republish_cameras = false;
     publish_diagnostics = false;
 
-    # either foot or talus:
-    standing_link = "foot";
+    # foot Link in contact with the ground:
+    left_standing_link = "l_foot";
+    right_standing_link = "r_foot";
 
     # filter joint positions: "none", "lowpass", "kalman".
     # was always lowpass when running with bdi stepping. scott may need kalman

diff --git a/config/config_components/state_estimation_mit_from_logfile.cfg b/config/config_components/state_estimation_mit_from_logfile.cfg
@@ -268,7 +268,7 @@ state_estimator {
 
   legodo {
 
-    channel = "ATLAS_STATE";
+    channel = "CORE_ROBOT_STATE";
     # lin_rate           linear velocities
     # lin_rot_rate       linear and rotation rates i.e. velocities
     # pos_and_lin_rate   position and linear velocities
@@ -314,8 +314,9 @@ state_estimator {
     republish_cameras = false;
     publish_diagnostics = false;
 
-    # either foot or talus:
-    standing_link = "foot";
+    # foot Link in contact with the ground:
+    left_standing_link = "l_foot";
+    right_standing_link = "r_foot";
 
     # filter joint positions: "none", "lowpass", "kalman".
     # was always lowpass when running with bdi stepping. scott may need kalman

diff --git a/config/config_components/state_estimation_mit_gpf.cfg b/config/config_components/state_estimation_mit_gpf.cfg
@@ -269,7 +269,7 @@ state_estimator {
 
   legodo {
 
-    channel = "ATLAS_STATE";
+    channel = "CORE_ROBOT_STATE";
     # lin_rate           linear velocities
     # lin_rot_rate       linear and rotation rates i.e. velocities
     # pos_and_lin_rate   position and linear velocities
@@ -315,8 +315,9 @@ state_estimator {
     republish_cameras = false;
     publish_diagnostics = false;
 
-    # either foot or talus:
-    standing_link = "foot";
+    # foot Link in contact with the ground:
+    left_standing_link = "l_foot";
+    right_standing_link = "r_foot";
 
     # filter joint positions: "none", "lowpass", "kalman".
     # was always lowpass when running with bdi stepping. scott may need kalman

diff --git a/config/drc_robot.pmd b/config/drc_robot.pmd
@@ -13,13 +13,8 @@ group "00.params_and_model_pub" {
 
 group "01.state_mit" {
 
-    cmd "joints2frames" {
-        exec = "joints2frames";
-        host = "localhost";
-    }
-
     cmd "state-sync" {
-        exec = "state-sync -a5";
+        exec = "se-state-sync-simple";
         host = "localhost";
     }
     cmd "fusion" {
@@ -30,6 +25,10 @@ group "01.state_mit" {
         exec = "se-yaw-lock -yd";
         host = "localhost";
     }
+    cmd "republish-atlas-state" {
+        exec = "se-republish-atlas-state-as-core";
+        host = "localhost";
+    }
 }
 
 group "01.state_mit_from_logfile" {

diff --git a/pronto b/pronto
diff --git a/software b/software
@@ -0,0 +1 @@
+.
+2 −0		motion_estimate/CMakeLists.txt
+103 −0		motion_estimate/scripts/republish_atlas_state.py
+21 −34		motion_estimate/scripts/state-sync-simple.py