A ROS package that compute force/torque states and the Center of Pressure on each leg based on FSR.
These instructions will get you a copy of the project up and running on your local machine for development and testing purposes.
- Ubuntu 14.04 and later
- ROS indigo and later
- Eigen 3.2.0 and later
- git clone https://github.com/mrsp/humanoid_fsr.git
- catkin_make
- Adjust the corresponding topics in config/estimation_params.yaml
- roslaunch humanoid_fsr humanoid_fsr.launch