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root-linkの速度、角速度 #1035

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hikun5296 opened this issue Dec 6, 2017 · 0 comments

hikun5296 commented Dec 6, 2017

支持脚は動かない、滑らないという仮定のもとで、
root-linkの速度、角速度をtopicとして取得する手軽な方法はありますでしょうか？

今のところ
https://github.com/fkanehiro/hrpsys-base/blob/master/rtc/Stabilizer/Stabilizer.cpp#L158
でやっているような要領で計算して、hrpsys_ros_bridgeでpublishしようと思っているのですが、
もっと手軽な方法があれば教えていただきたいです

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