A whole-body MPC message describes the whole-body state and feedback gains. The whole-body state is broken in three pieces: centroidal, joint and contact state, and it is described in: whole_body_state_msgs.
The feedback gain is stored in data vector with a predefined stored dimensions, i.e. nx and nu.
With this basic message, we could connect with any whole-body controller. Additionally, it defines a whole-body control message which contains desired and actual states.
The whole_body_mpc_msgs is a catkin project which can be built as:
cd your_ros_ws/
catkin build #catkin_make
- Carlos Mastalli, The University of Edinburgh 🇬🇧