[ros-users] Applicability of robot_model stack on humanoid

Wim Meeussen meeussen at willowgarage.com
Wed Oct 6 18:39:41 UTC 2010


You can perfectly create a URDF for a humanoid, and start using it
with rviz, robot_state_publisher, etc. The only constraint on the URDF
is that your robot can be represented in a tree structure, but I don't
see why that would be a problem.

You can visualize / replay your robot motion in rviz, even if the
joint states are published at 1kHz.  Is that what you were asking for?


On Tue, Oct 5, 2010 at 7:58 PM, Kim, Yoonsoo <yesarang.kim at gmail.com> wrote:
> Dear ros users,
> I'm developing a humanoid and as you may guess,
> walking is very important issue for it.
> But it is very difficult to debug walking algorithms without
> visual aids. So, I'm curious about the possibility that
> rosbag and rviz can be used to replay robot's walking motion.
> The control loop should run in 1KHz frequency.
> If possible, how can I achieve the replay function using them?
> - Yoonsoo
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Wim Meeussen
Willow Garage Inc.

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