This ROS2 package includes a node which provides the base footprint frame for any humanoid robot following REP - 120.
Only ROS2 Rolling is supported currently.
Only source installation is available currently. Run the following in your ROS workspace:
git clone https://github.com/ros-sports/humanoid_base_footprint.git src/humanoid_base_footprint
vcs import src < src/humanoid_base_footprint/dependencies.repos --recursive
colcon build
To run the node:
ros2 run humanoid_base_footprint base_footprint
Definition of the base footprint frame (from here):
The base_footprint is the representation of the robot position on the floor. The floor is usually the level where the supporting leg rests, i.e. z = min(l_sole_z, r_sole_z) where l_sole_z and r_sole_z are the left and right sole height respecitvely. The translation component of the frame should be the barycenter of the feet projections on the floor. With respect to the odom frame, the roll and pitch angles should be zero and the yaw angle should correspond to the base_link yaw angle.
Rationale: base_footprint provides a fairly stable 2D planar representation of the humanoid even while walking and swaying with the base_link.
The node listens to Phase msgs that define the current stance of the robot. By default, it will listen on the walk_support_state topic, but you can define a list of topics on the support_state_topics parameter.
If the links of your robot have non-standard names you can set the following parameters:
base_link_frame, r_sole_frame, l_sole_frame, l_sole_frame, odom_frame
The resulting frame will be published as base_footprint but the name can be changed by setting the base_footprint_frame parameter.