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

Change directory: $ cd /path/to/your_ws/src
Clone repository
- (ssh) $ git clone git@github.com:cmower/eff_wrench.git
- (https) $ git clone https://github.com/cmower/eff_wrench.git
Install optas. Note, currently OpTaS is not hosted on PyPi - this will change in the future.
Change directory: $ cd /path/to/your_ws
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.