This library provides ROS/ROS2 messages for the Whole-Body Control library.

WBC was initiated and is currently developed at the Robotics Innovation Center of the German Research Center for Artificial Intelligence (DFKI) in Bremen.

• Please check out the tutorials section in the documentation for examples of usage.

See package.xml

See here

See the full documentation for the Readme.md of the wbc_ros repository.

See the Readme.md of the wbc_ros repository.

Please use the issue tracker to submit bug reports and feature requests.

Please use merge requests as described here to add/adapt functionality.

wbc_msgs is distributed under the 3-clause BSD license.

If you use WBC within your scientific work, please cite the following publication:

@INPROCEEDINGS{mronga2022,
author = "D. Mronga and S.Kumar and F.Kirchner",
title = "Whole-Body Control of Series-Parallel Hybrid Robots",
year = "2022",
note = "{2022 IEEE International Conference on Robotics and Automation (ICRA)}, Accepted for publication",
}

WBC has been developed in the research projects TransFit (Grant number 50RA1701) and BesMan (Grant number 50RA1216) funded by the German Aerospace Center (DLR) with funds from the German Federal Ministry for Economic Affairs and Climate Action (BMWK). It is further developed in the M-Rock (Grant number 01IW21002) and VeryHuman (Grant number 01IW20004) projects funded by the German Aerospace Center (DLR) with federal funds from the German Federal Ministry of Education and Research (BMBF).

Dennis Mronga, [email protected]

Copyright 2017, DFKI GmbH / Robotics Innovation Center