Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Migrate publishers from ROS to ROS2 #334

Open
lrapetti opened this issue Feb 7, 2023 · 1 comment
Open

Migrate publishers from ROS to ROS2 #334

lrapetti opened this issue Feb 7, 2023 · 1 comment
Assignees
@lrapetti

Comments

@lrapetti
Copy link
Member

lrapetti commented Feb 7, 2023 •
edited
Loading

As a follow-up of the comment from @traversaro in #311 (comment), I am opening a dedicated issue for this migration.
@lrapetti lrapetti self-assigned this Feb 7, 2023
@lrapetti
Copy link
Member Author

lrapetti commented Feb 7, 2023

An alternative that might be considered (if it it partially solved the issues), could be to avoid using the publishers, and to use the HumanControlBoard device that exposes the human model kinematics, and joint torques, as yarp control board, plus the shoes wrenches can be exposed as analogue port. I think from there, we are replicating the data exposed by a robot, so I think we can use some of the existing software used for the iCub robot (https://github.com/orgs/robotology/discussions/610).

The main missing part in this case would be the visualization of the joint torques as spheres.

@lrapetti lrapetti mentioned this issue Feb 7, 2023
Open
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees

@lrapetti lrapetti

Labels
None yet
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
1 participant
@lrapetti