Only released in EOL distros:
Package Summary
This package defines generic messages for communicating observed kinematic trajectories and articulation models. Further, this packages defines generic services for fitting, selecting and storing kinematic models from observed trajectories.
- Author: Juergen Sturm
- License: BSD
- Repository: alufr-ros-pkg
- Source: svn https://alufr-ros-pkg.googlecode.com/svn/tags/stacks/articulation/articulation-0.1.3
Package Summary
This package defines generic messages for communicating observed kinematic trajectories and articulation models. Further, this packages defines generic services for fitting, selecting and storing kinematic models from observed trajectories.
- Author: Juergen Sturm
- License: BSD
- Source: svn http://alufr-ros-pkg.googlecode.com/svn/trunk/articulation
Contents
Newly proposed, mistyped, or obsolete package. Could not find package "articulation_msgs" in rosdoc: /var/www/docs.ros.org/en/api/articulation_msgs/manifest.yaml
Model fitting/selection/evaluation using ROS message streams
Given a trajectory in form of a ROS articulation_msgs/TrackMsg message, the model_learner_msg node of the articulation_models package fits all available template models, selects the one with the smallest BIC (Bayesian Information Criterion), and publishes a ROS articulation_msgs/ModelMsg message. Note that this node can then be used in real-time, as it skips trajectory messages if necessary.
Model fitting/selection/evaluation using ROS service calls
Alternatively, you might want to run model fitting, selection and/or evaluation using ROS service calls. Corresponding services are provided by the model_learner_srv node and the model_learner_prior node in the articulation_models package.
Visualization of trajectories and models
Trajectories articulation_msgs/TrackMsg and models articulation_msgs/TrackMsg can be visualized in RVIZ easily by using the Track and Model Display. See articulation_rviz_plugin for how to set up RVIZ to properly display them.
