Obtain normal force on Quadruped Robot's feet in Gazebo

asked 2021-07-26 13:50:04 -0500

jdong-sw gravatar image

I'm trying to figure out how to set something up in ROS and Gazebo so that I can have the normal forces on each foot of a quadrupedal robot.

I have something where I can launch the robot in Gazebo, and make it perform a simple gait. I just need some way of adding either a Gazebo sensor plugin, or something else, such that I can have the normal forces on each foot be published to some topic.

You can see my repository here: https://github.com/jdong-sw/rbe-legge...

I would think that I should be using something like the Gazebo Force Torque Sensor, but there doesn't seem to be much documentation on it. Nonetheless I tried implementing it, but the forces I was getting didn't seem right. I'm also unsure as to which joint the sensor should be attached to. I had put it on the ankle joint, but I think ideally it would be on some joint between the tibia and the foot? I'm also unsure as to which coordinate frame the forces are with respect to.

Any advice would be appreciated. Thanks.

edit retag flag offensive close merge delete