XPLORER Wrench Estimator

Repo to estimate wrench for XPLORER

Description

This repo has the code for novel external wrench estimation algorithm developed and the corresponding interaction controller, an admittance controller, designed by using the wrench estimates.

Dependencies

You need to have the following packages installed in your system:

SQUEEZE Custom Messages

Build

cd ~/colcon_ws/src
git clone git@github.com:ASU-RISE-Lab/squeeze_wrench_estimator.git
cd ~/colcon_ws
colcon build --packages-select squeeze_wrench_estimator

Launching the node

ros2 run squeeze_wrench_estimator wrench_estimator