robotical/ros_marty

ROS Marty API for making Marty awesome

ros_marty's Issues

CmdServer Blocks while awaiting CMD

ROS requires spinning to know what is happening, so we should make this a non-blocking CMD request.

Implement proper fall_manager

Right now, simple threshold, without hysteresis/tolerance.
Moving window/average? Filter?
Also, at the moment only considering a fall when the robot is rotated, not free-fall.
Also also, what to do when falling? Disable motors? Goto neutral position first?

leanForward does not work as expected (leans backwards!)

• Optional: Modify all lean commands to be relative of current lean (where lean(0) would be return to centre as it currently is)

tf_diff for odometry needs revision

For some reason, MartyCore::updateOdom() does not behave as expected. The foot odom rotation is smaller than what the real robot performs.

marty-stop should also send a command to stop the motors

Use accelerometer to estimate which foot/feet is on the ground

Currently lower foot on Z axis (for calculating odom) is guessed from base_link, so it disregards if robot is unbalanced/tipping and actually touching the ground with a different foot.
This change should keep previous functionality intact, and help (probably) with unconventional motions like sidestepping (Currently odom calculation over-estimates sidestep motion).

As a fun fact, it could technically be consequently ported to any other TF frame (Arm crawling Marty anyone?)

Rick accelerometer axes have been corrected, to read in the order XYZ, so fall protection needs to be updated