ROS Index
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | TODO: License declaration |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/project-march/projectmarch.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-08-20 |
| 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
Additional Links
Maintainers
- Alexander James Becoy
Authors
MARCH State Estimator
Overiew
TODO: Write overview description of this package.
Keywords: state estimation, robot description, URDF parser, kinematics, dynamics, GiNaC, symbolic expressions
License
The source is released under a TODO: Insert license.
Author: Alexander James Becoy, Alexander Andonov
Affiliation: Project MARCH
Maintainers:
- Alexander James Becoy, alexanderjames.becoy@projectmarch.nl
- Alexander Andonov, alexander.andonov@projectmarch.nl
The MARCH State Estimator package has been tested under ROS2 Foxy on Ubuntu 20.04.
Installation
Installation from Packages
IMPORTANT. We need to install the necessary deb packages:
sudo apt-get update
sudo apt-get install libmpfr-dev libgmp-dev libboost-all-dev
Building GiNaC
This package makes full use of a C++ library called GiNaC, which is not readily available in ROS/ROS2. Therefore, it is required to build this library separately.
First, update the git submodules.
cd ~/march
git submodule update --recursive --init
Go to the GiNaC folder and create a build folder build the GiNaC library.
mkdir build && cd build
cmake ..
make
This is not strictly necessary, but it is strongly recommended to test the library.
make check
Installing GiNaC
Finally, complete the build make by installing the make file.
sudo make install
Uninstalling GiNaC
NOTE: To remove GiNaC, it is mandatory to clean the generated files before deleting the library.
cd ~/march/ros2/src/libraries/ginac
make clean
make uninstall
Building from Source
Dependencies
- Robot Operatibg System 2 (ROS2) (middleware for robotics),
- Eigen (linear algebra library)
Building
To build from source, clone the latest version from this repository into MARCH’s ROS2 workspace and compile the package using
cd ~/march/ros2
rosdep install --from-paths . --ignore-src
colcon build
Unit Tests
Run the unit tests with
TODO: Provide command line for unit testing
Static code analysis
Run the static code analysis with
TODO: Provide command line for static code analysis
Usage
TODO: Describe the quickest way to run this software separately
TODO: ROS2 command line
Config files
Config file folder/set 1
- config_file_1.yaml TODO: Shortly explain the content of this config file
Launch files
-
state_estimator.launch.py: TODO: shortly explain what is launched (e.g. standard simulation, simulation with gdb, …)
Argument set 1
-
argument_1Short description (e.g. as commented in launch file). Default:default_value.
Nodes
state_estimator_node
TODO: Provide description of this node
Subscribed Topics
-
/joint_state(sensor_msgs/JointState) The measured state of each joint in the robot which consists the joint position, joint velocity and joint effort.
Published Topics
- …
Services
- …
Parameters
- …
kalman_filter_node
…
robot_description_node
…
Troubleshooting
GiNaC is empty, missing files, or has faulty files
If the folder that contains GiNaC is empty, is missing files, or faulty files, it is best to delete it, redownload, and reinstall it.
To delete and redownload it, follow the following instruction:
cd path/to/ros2_workspace/src/libraries
rm -rf ./ginac
git submodule update --init --recursive
To reinstall, follow the installation procedure describing above.
Bugs & Feature Requests
Please report bugs and request features using the Issue Tracker (TODO: Provide link to issue page).
Credit
Credits to leggedrobotics for providing a template to write the README of a custom ROS package.