valkyrie files

Author: mrsp

config/valkyrie.json

@@ -0,0 +1,69 @@
+{
+  "base_frame": "pelvis",
+  "point_feet": false,
+  "foot_frames": {
+      "0": "leftFoot",
+      "1": "rightFoot"
+  },
+  "model_path": "valkyrie.urdf",
+  "mass": 127.324,
+  "g": 9.81,
+  "joint_rate": 500.0,
+  "estimate_joint_velocity": true,
+  "joint_cutoff_frequency": 10.0,
+  "joint_position_variance": 0.1,
+  "angular_momentum_cutoff_frequency": 5.0,
+  "tau_0": 1.0,
+  "tau_1": 1.0,
+  "imu_rate": 500.0,
+  "R_base_to_gyro": [1.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, -1.0],
+  "R_base_to_acc": [1.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, -1.0],
+  "calibrate_imu": false,
+  "max_imu_calibration_cycles": 300,
+  "bias_acc": [0.0, 0.0, 0.0],
+  "bias_gyro": [0.0, 0.0, 0.0],
+  "gyro_cutoff_frequency": 5.0,
+  "force_torque_rate": 500.0,
+  "R_foot_to_force": {
+      "0": [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0],
+      "1": [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
+  },
+  "R_foot_to_torque": {
+      "0": [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0],
+      "1": [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
+  }, 
+  "attitude_estimator_proportional_gain": 0.02,
+  "attitude_estimator_integral_gain": 0.0,
+  "estimate_contact_status": true,
+  "high_threshold": 350.0,
+  "low_threshold": 125.0,
+  "median_window": 13,
+  "outlier_detection": false,
+  "convergence_cycles": 0,
+  "imu_angular_velocity_covariance": [1e-4, 1e-4, 1e-4],
+  "imu_angular_velocity_bias_covariance": [1e-6, 1e-6, 1e-6],
+  "imu_linear_acceleration_covariance": [1e-3, 1e-3, 1e-3],
+  "imu_linear_acceleration_bias_covariance": [1e-5, 1e-5, 1e-5],
+  "contact_position_covariance": [1e-6, 1e-6, 1e-6],
+  "contact_orientation_covariance": [1e-3, 1e-3, 1e-3],
+  "contact_position_slip_covariance": [1e-4, 1e-4, 1e-4],
+  "contact_orientation_slip_covariance": [1e-3, 1e-3, 1e-3],
+  "com_position_process_covariance": [1e-6, 1e-6, 1e-6],
+  "com_linear_velocity_process_covariance": [1e-4, 1e-4, 1e-4],
+  "external_forces_process_covariance": [1e-2, 1e-2, 1e-2],
+  "com_position_covariance": [1e-6, 1e-6, 1e-6],
+  "com_linear_acceleration_covariance": [1e-3, 1e-3, 1e-3],
+  "initial_base_position_covariance": [1.0, 1.0, 1.0],
+  "initial_base_orientation_covariance": [1.0, 1.0, 1.0],
+  "initial_base_linear_velocity_covariance": [1.0, 1.0, 1.0],
+  "initial_contact_position_covariance": [1.0, 1.0, 1.0],
+  "initial_contact_orientation_covariance": [1.0, 1.0, 1.0],
+  "initial_imu_linear_acceleration_bias_covariance": [1.0, 1.0, 1.0],
+  "initial_imu_angular_velocity_bias_covariance": [1.0, 1.0, 1.0],
+  "initial_com_position_covariance": [1.0, 1.0, 1.0],
+  "initial_com_linear_velocity_covariance": [1.0, 1.0, 1.0],
+  "initial_external_forces_covariance": [1.0, 1.0, 1.0],
+  "T_base_to_odom": [1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0],
+  "is_flat_terrain": false,
+  "terrain_height_covariance": 1e-3
+}

serow_ros/config/valkyrie.yaml

@@ -0,0 +1,7 @@
+joint_state_rate: 500
+joint_state_topic: "/ihmc_ros/valkyrie/output/joint_states"
+base_imu_topic: "/ihmc_ros/valkyrie/output/imu/pelvis_pelvisMiddleImu"
+config_file_path: "valkyrie.json"
+force_torque_state_topics:
+  - "/ihmc_ros/valkyrie/output/foot_force/left"
+  - "/ihmc_ros/valkyrie/output/foot_force/right"

serow_ros/launch/serow_valkyrie.launch

@@ -0,0 +1,4 @@
+<launch>
+    <rosparam file="$(find serow_ros)/config/valkyrie.yaml" command="load" />
+    <node name="serow_ros" pkg="serow_ros" type="serow_driver" output="screen" />
+</launch>