ROS IndexNo version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
|
gravity_compensation package from dynamic_parameter_identification repogravity_compensation |
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Python library for dynamic parameter estimation |
| Checkout URI | https://github.com/lbr-stack/dynamic_parameter_identification.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-06-30 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Equation Derivation
Additional Links
No additional links.
Maintainers
- tianhuanyu
Authors
No additional authors.
Gravity Compensation
This is a repo for identification of robotic dynamic parameters including mass, inertia, friction, center of mass.
Currently, the code can only support revolute robots with fixed base. (Also theoretically support 6Dof robots).
The code has been tested on KUKA LBR MED R700 robot / XArm and Ubuntu 22.04 (ROS2 Version: Humble).
The dependence of the libaray includes:
- sudo apt install python3-pip
- install optas refer to https://github.com/cmower/optas
- pip3 install numpy==1.26.1
- pip3 install open3d==0.17.0
- pip3 install pybullet
install lbr_fri_ros2 refer to https://github.com/lbr-stack/lbr_fri_ros2_stack
install xarm_ros2 refer to https://github.com/xArm-Developer/xarm_ros2/tree/humble
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| rclcpp | |
| lbr_fri_msgs | |
| ament_cmake | |
| std_msgs | |
| sensor_msgs | |
| rclpy | |
| kdl_parser | |
| xacro |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged gravity_compensation at Robotics Stack Exchange
No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
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No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
|
|
gravity_compensation package from force_torque_tools repoforce_torque_sensor_calib force_torque_tools gravity_compensation |
Package Summary
| Tags | No category tags. |
| Version | 1.1.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | Tools for gravity compensation and force-torque sensor calibration. |
| Checkout URI | https://github.com/kth-ros-pkg/force_torque_tools.git |
| VCS Type | git |
| VCS Version | jade |
| Last Updated | 2016-01-26 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Compensates gravity forces on the gripper of the robot so that force-torque signals are zeroed. Assumes previously calibrated accelerometer and F/T sensor.
Additional Links
Maintainers
- Francisco Vina
Authors
- Francisco Vina
README
No README found.
See repository README.
CHANGELOG
Changelog for package gravity_compensation
1.1.0 (2016-01-25)
1.0.2 (2015-08-17)
- [fix] Add missing install rules
- [sys] Redundant maintainer names
- Contributors: Isaac IY Saito
1.0.1 (2015-05-17)
- Compilable setting on ROS Indigo.
- fixed launch file to accept arguments put an example calibration data file in the force_torque_sensor_calib package
- fixed ros wiki links
- updated readme and added example files for gravity compensation
- removing gripper_com_child_frame_id parameter from ft calib gravity compensation fixed and working
- added force_torque_sensor_calib package
- added check for imu message timestamp
- finished the gravity compensation node... added example yaml and launch files
- finished gravity compensation node... still have to test
- advancing in creation of gravity_compensation .. still have to finish the node
- finished Compensate() function
- adding gravity compensation package, still have to finish
- Contributors: Francisco Vina, Isaac IY Saito, fevb
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
| Name | Deps |
|---|---|
| force_torque_tools |
Launch files
- launch/gravity_compensation.launch
-
- node_name [default: gravity_compensation]
- calib_data_file [default: $(env HOME)/.ros/ft_calib/ft_calib_data.yaml]
- ft_raw [default: /ft_sensor/ft_raw]
- imu [default: /imu/data]
- loop_rate [default: 1000.0]
- ns [default: /ft_sensor]
- gripper_com_child_frame_id [default: gripper_com]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged gravity_compensation at Robotics Stack Exchange
|
|
gravity_compensation package from force_torque_tools repoforce_torque_sensor_calib force_torque_tools gravity_compensation |
Package Summary
| Tags | No category tags. |
| Version | 1.0.2 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | Tools for gravity compensation and force-torque sensor calibration. |
| Checkout URI | https://github.com/kth-ros-pkg/force_torque_tools.git |
| VCS Type | git |
| VCS Version | indigo |
| Last Updated | 2018-03-27 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Compensates gravity forces on the gripper of the robot so that force-torque signals are zeroed. Assumes previously calibrated accelerometer and F/T sensor.
Additional Links
Maintainers
- Francisco Vina
Authors
- Francisco Vina
README
No README found.
See repository README.
CHANGELOG
Changelog for package gravity_compensation
1.0.2 (2015-08-17)
- [fix] Add missing install rules
- [sys] Redundant maintainer names
- Contributors: Isaac IY Saito
1.0.1 (2015-05-17)
- Compilable setting on ROS Indigo.
- fixed launch file to accept arguments put an example calibration data file in the force_torque_sensor_calib package
- fixed ros wiki links
- updated readme and added example files for gravity compensation
- removing gripper_com_child_frame_id parameter from ft calib gravity compensation fixed and working
- added force_torque_sensor_calib package
- added check for imu message timestamp
- finished the gravity compensation node... added example yaml and launch files
- finished gravity compensation node... still have to test
- advancing in creation of gravity_compensation .. still have to finish the node
- finished Compensate() function
- adding gravity compensation package, still have to finish
- Contributors: Francisco Vina, Isaac IY Saito, fevb
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| cmake_modules | |
| roscpp | |
| geometry_msgs | |
| tf | |
| sensor_msgs | |
| tf_conversions | |
| eigen_conversions | |
| std_srvs | |
| catkin |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| force_torque_tools |
Launch files
- launch/gravity_compensation.launch
-
- node_name [default: gravity_compensation]
- calib_data_file [default: $(env HOME)/.ros/ft_calib/ft_calib_data.yaml]
- ft_raw [default: /ft_sensor/ft_raw]
- imu [default: /imu/data]
- loop_rate [default: 1000.0]
- ns [default: /ft_sensor]
- gripper_com_child_frame_id [default: gripper_com]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged gravity_compensation at Robotics Stack Exchange
|
|
gravity_compensation package from force_torque_tools repoforce_torque_sensor_calib force_torque_tools gravity_compensation |
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | Tools for gravity compensation and force-torque sensor calibration. |
| Checkout URI | https://github.com/kth-ros-pkg/force_torque_tools.git |
| VCS Type | git |
| VCS Version | hydro |
| Last Updated | 2015-12-10 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Compensates gravity forces on the gripper of the robot so that force-torque signals are zeroed. Assumes previously calibrated accelerometer and F/T sensor.
Additional Links
Maintainers
- Francisco Vina
- Francisco Vina
Authors
- Francisco Vina
README
No README found.
See repository README.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
| Name | Deps |
|---|---|
| force_torque_tools |
Launch files
- launch/gravity_compensation.launch
-
- node_name [default: gravity_compensation]
- calib_data_file [default: $(env HOME)/.ros/ft_calib/ft_calib_data.yaml]
- ft_raw [default: /ft_sensor/ft_raw]
- imu [default: /imu/data]
- loop_rate [default: 1000.0]
- ns [default: /ft_sensor]
- gripper_com_child_frame_id [default: gripper_com]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged gravity_compensation at Robotics Stack Exchange
|
|
gravity_compensation package from force_torque_tools repoforce_torque_sensor_calib force_torque_tools gravity_compensation |
Package Summary
| Tags | No category tags. |
| Version | 1.2.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | Tools for gravity compensation and force-torque sensor calibration. |
| Checkout URI | https://github.com/kth-ros-pkg/force_torque_tools.git |
| VCS Type | git |
| VCS Version | kinetic |
| Last Updated | 2021-05-07 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Compensates gravity forces on the gripper of the robot so that force-torque signals are zeroed. Assumes previously calibrated accelerometer and F/T sensor.
Additional Links
Maintainers
- Diogo Almeida
Authors
- Francisco Vina
README
No README found.
See repository README.
CHANGELOG
Changelog for package gravity_compensation
1.2.0 (2018-03-27)
- Update maintainer information
1.1.0 (2016-01-25)
1.0.2 (2015-08-17)
- [fix] Add missing install rules
- [sys] Redundant maintainer names
- Contributors: Isaac IY Saito
1.0.1 (2015-05-17)
- Compilable setting on ROS Indigo.
- fixed launch file to accept arguments put an example calibration data file in the force_torque_sensor_calib package
- fixed ros wiki links
- updated readme and added example files for gravity compensation
- removing gripper_com_child_frame_id parameter from ft calib gravity compensation fixed and working
- added force_torque_sensor_calib package
- added check for imu message timestamp
- finished the gravity compensation node... added example yaml and launch files
- finished gravity compensation node... still have to test
- advancing in creation of gravity_compensation .. still have to finish the node
- finished Compensate() function
- adding gravity compensation package, still have to finish
- Contributors: Francisco Vina, Isaac IY Saito, fevb
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| cmake_modules | |
| roscpp | |
| geometry_msgs | |
| tf | |
| sensor_msgs | |
| tf_conversions | |
| eigen_conversions | |
| std_srvs | |
| catkin |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| force_torque_tools |
Launch files
- launch/gravity_compensation.launch
-
- node_name [default: gravity_compensation]
- calib_data_file [default: $(env HOME)/.ros/ft_calib/ft_calib_data.yaml]
- ft_raw [default: /ft_sensor/ft_raw]
- imu [default: /imu/data]
- loop_rate [default: 1000.0]
- ns [default: /ft_sensor]
- gripper_com_child_frame_id [default: gripper_com]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged gravity_compensation at Robotics Stack Exchange
No version for distro melodic. Known supported distros are highlighted in the buttons above.