README

A ROS package that compute force/torque states and the Center of Pressure on each leg based on FSR.

Getting Started

These instructions will get you a copy of the project up and running on your local machine for development and testing purposes.

Prerequisites

• Ubuntu 14.04 and later
• ROS indigo and later
• Eigen 3.2.0 and later

Installing

• git clone https://github.com/mrsp/humanoid_fsr.git
• catkin_make

Run

• Adjust the corresponding topics in config/estimation_params.yaml
• roslaunch humanoid_fsr humanoid_fsr.launch