master |
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calculate center of gravity from /robot_description parameters and /tf topic
- /robot_description
type : string - ~publish_frame
type : string
default : base_link - ~publish_rate
type : int
default: 50
- /tf
message_type : tf2_msgs/TFMessage
- /cog/links
message type : sensor_msgs/PointCloud
center of gravity in each link - /cog/robot
message type : geometry_msgs/PointStamped
center of gravity in whole robot - /cog/total_mass
message type : std_msgs/Float64
total mass of the robot
publish fake cog positions and total weights
- ~publish_frame
type : string
default : base_link - ~publish_rate
type : int
default: 50 - ~total_mass type: double default: 100
- ~cog_x
type: double
default: 0
center of gravitiy position in (~publish_frame) [m] - ~cog_y
type: double
default: 0
center of gravitiy position in (~publish_frame) [m] - ~cog_z
type: double
default: 0
center of gravitiy position in (~publish_frame) [m]
- None
- /cog/robot
message type : geometry_msgs/PointStamped
center of gravity in whole robot - /cog/total_mass
message type : std_msgs/Float64
total mass of the robot