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/rel_base_imu
- /gem2/rel_CoM_velocity
- /gem2/rel_LLeg_wrench
- /gem2/rel_RLeg_wrench
- /gem2/rel_LLeg_imu
- /gem2/rel_RLeg_imu
- /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)
- Ubuntu 16.04 and later
- ROS kinetic and later
- Eigen 3.2.0 and later
- Pinocchio 2.2.1
- 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
- configure appropriately the config yaml file (in config folder) with the corresponding topics
- roslaunch gem2_state_publisher gem2_state_publisher.launch