ros2 humanoid
Hi. I am working on a bipedal humanoid in ROS2 (eloquent) and I am wondering what existing modules are out there for humanoid control. Such things as balance, standing, walking and navigation. I see a lot of options in ROS1 but not much in ROS2 yet.
In ROS1, humanoid_walk, footstep_planner, humanoid_navigation, humanoid_localization, navfn - old (?) ROS1 modules ros_control - doesnt seem to be implemented in ROS2 (just a 2017 ROSCON presentation demo) MoveIt! 2 - looks like a beta release in Jan, not releasing until EO Feb. I like some of the videos on Moveit! for ROS2. Though I was kind of hoping to get this robot walking before February's release. Atlas Robot - could I possibly adapt some of this source or modules? Nao
Am I missing anything? I'd hate to roll my own moduels only to find out I reinvented the wheel. I don't have much familiarity with any of these ROS1 modules. I am new to ROS2 but I have my joint_publisher (and some others) running on the hardware and I can see my robot move in RViz2. Joints are compliant (active and passive) so I would like to take advantage of this capability.
Thanks, Colin