Dynamics Observer

Author Alexander Mitchell (2025)

0. Overview

This package estiamtes useful dynamics quantities such as end-effector forces, end-effector velocities.

1. Setup / Install

This package depends on:

eigen
pinocchio

as detailed in the package.xml.

CMake Build

If not using ROS, you can build the core package using CMake3:

cd dynamics_estimator_core
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make

ROS Build (Catkin)

To build with catkin, drop into your catkin workspace and build as normal.

catkin build dynamics_estimator_ros

This will build the core package first and then the ros package.

2. Run Examples

To run an example:

roslaunch dyanmics_estiamtor_ros observer.launch