gem2_state_publisher

gem2_state_publisher is ROS/C++ utility package for the Gait-Phase Estimation Module 2 (GEM2) available at https://github.com/mrsp/gem2 to generate the mandatory input and facilitate real-time gait-phase estimation. The code is open-source (BSD License). Please note that this work is an on-going research and thus some parts are not fully developed yet. Furthermore, the code will be subject to changes in the future which could include greater re-factoring.

GEM2 data aqcuisition in real-time

Published Topics

• /gem2/rel_base_imu
• /gem2/rel_CoM_velocity
• /gem2/rel_LLeg_wrench
• /gem2/rel_RLeg_wrench
• /gem2/rel_LLeg_imu
• /gem2/rel_RLeg_imu

Optional Published Topics

• /gem2/rel_CoM_position
• /gem2/rel_LLeg_pose
• /gem2/rel_RLeg_pose
• /gem2/rel_LLeg_velocity
• /gem2/rel_RLeg_velocity
• /gem2/ground_truth/gait_phase (if provided)

Prerequisites

• Ubuntu 16.04 and later
• ROS kinetic and later
• Eigen 3.2.0 and later
• Pinocchio 2.2.1

Installing

• sudo apt-get install ros-kinetic-pinocchio
• git clone https://github.com/mrsp/gem2_state_publisher.git
• catkin_make -DCMAKE_BUILD_TYPE=Release
• If you are using catkin tools run: catkin build --cmake-args -DCMAKE_BUILD_TYPE=Release

Run in real-time to provide a synchronized data stream:

• configure appropriately the config yaml file (in config folder) with the corresponding topics
• roslaunch gem2_state_publisher gem2_state_publisher.launch