ros-sports / humanoid_base_footprint Goto Github PK

Is your feature request related to a problem? Please describe.

Want Github Action CI to run for all supported ROS2 distros.

Is your feature request related to a problem? Please describe.

Should move documentation to a README file, since the package isn't part of bit-bots/bit-bots-docs anymore.

The rot-conv library must be released into ROS2 for this package to be released into ROS2.
Alternatively, rot_conv::QuatNoEYaw is the only function being used from rot_conv, so perhaps we could simply reimplement that function?

Hi there,
Thanks for your sharing of the repo, I am reading your code and notice those lines:

Hope for your answer sincerely.

This should be done to increase compatibility with different action the robot can do.
For example a kick also needs to publish a support foot but it would not be logical to publish on /walk_support_state. It is also not practical to add a new subscriber to humanoid_base_footprint for every other action.

How about rather than having humanoid_base_footprint publish at a set frequency, we respond to transform changes using something like a tf2::MesssageFilter, as discussed in [tf2] get new transform as soon as possible (callback)?. That way humanoid_base_footprint transforms become available whenever new data is available to calculate it.

As the tf we have to publish is base_link -> base_footprint, applying the filter to the JointStates topic seems appropriate. Here is an example for one done for the Nao robot in ROS1

Pull request Template is out of date, should be updated.

Rather than having a loop with a "wait" inside, it would seem better to have a timer that fires at a set frequency, and do everything inside the timer callback.

The master branch doesn't compile on ROS2 Foxy and Galactic, because of issues stated below:

• Some imports have been renamed from .h files to .hpp files recently in Rolling (and these changes have not been backported to Galactic).

  - #include <tf2_eigen/tf2_eigen.h>
  - #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
  + #include <tf2_eigen/tf2_eigen.hpp>
  + #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>

• rclcpp::Clock::sleep_until is being used in base_footprint.cpp, but is a new feature in ROS2 Rolling, and didn't exist in ROS2 Foxy and Galactic

Two alternatives:

• Try and support Foxy and Galactic, on a "galactic" branch. Any future PRs will be backported if possible until something is absolutely un-backportable.
• Ditch Foxy and Galactic support because we haven't even made a release yet, and care about all the backporting business after we make our first release. This will involve removing CI for Focy and Galactic.

My instinct is option 2. Thoughts? @ros-sports/humanoid_base_footprint

Expected behavior

When kicking, the base footprint stays at the same position relative to the support foot.

Current behavior

During the kick, the base footprint only keeps the z position of the support foot, x and y are in the middle between the feet. This behavior is adequate for the walking, but not for the kick.

Possible Solution

There could be a separate subscriber for the kick setting an internal variable and as long as that variable is set, the base_footprint will be published at the same position relative to the support foot.

Steps to Reproduce

1. roslaunch bitbots_dynamic_kick viz.launch
2. rosrun bitbots_dynamic_kick dummy_client.launch
3. Observer the base_footprint in rviz.

Context (Environment)

• RViz
• Simulator
• Robot
• Local

This issue might lead to a lot of problems in the whole vision, localization and behavior pipeline while kicking since base_footprint is used everywhere.

BaseFootprintBroadcaster::loop() is never called. Where do we start loopin' ?

I'd like to remove .rdrmanifest as it is specific to bit-bots.

Refer to this conversation on a PR