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License: Apache License 2.0
ROS Marty API for making Marty awesome
License: Apache License 2.0
Right now, simple threshold, without hysteresis/tolerance.
Moving window/average? Filter?
Also, at the moment only considering a fall when the robot is rotated, not free-fall.
Also also, what to do when falling? Disable motors? Goto neutral position first?
For some reason, MartyCore::updateOdom() does not behave as expected. The foot odom rotation is smaller than what the real robot performs.
ROS requires spinning to know what is happening, so we should make this a non-blocking CMD request.
Currently lower foot on Z axis (for calculating odom) is guessed from base_link, so it disregards if robot is unbalanced/tipping and actually touching the ground with a different foot.
This change should keep previous functionality intact, and help (probably) with unconventional motions like sidestepping (Currently odom calculation over-estimates sidestep motion).
As a fun fact, it could technically be consequently ported to any other TF frame (Arm crawling Marty anyone?)
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