robot_inertia_publisher

Overview

The robot_inertia_publisher permits to broadcast and visualize in RVIZ inertial information retrieved from the URDF description of a robot. Inertia of the single link is visualized as ellipsoid aorund a spehere which represents the cog of the link.

Node API

Published Topics

• link_inertias (InertiaWithLinkArray)
• link_inertias_viz (MarkerArray)
• total_mass ([Float32])

Parameters

• robot_description (String, default: robot_description)
• tf_prefix (String, default: None)