LowState information

[jangirrishabh]

Hello, thank you for putting this out. Can you tell us what part of the lowState is being used to get the /jointState message:

uint8[2] head
uint8 levelFlag
uint8 frameReserve

uint32[2] SN
uint32[2] version
uint16 bandWidth
IMU imu
MotorState[20] motorState
BmsState bms
int16[4] footForce	
int16[4] footForceEst	
uint32 tick						
uint8[40] wirelessRemote 
uint32 reserve
uint32 crc

# Old version Aliengo does not have:
Cartesian[4] eeForceRaw
Cartesian[4] eeForce          #it's a 1-DOF force infact, but we use 3-DOF here just for visualization 
Cartesian position            # will delete
Cartesian velocity            # will delete
Cartesian velocity_w            # will delete

Also, is there any other conversions between the two? Thanks!

[ali-alridha]

I have the same question, could you please tell how can I obtain/generate the /jointState messages from the standard topics that Unitree SDK provides? I have noticed that you used a Kalman filter to get them, could you please provide the instructions/package if you have it? I have a Go1 robot, and I have recorded several bags, that I would like to test them with Cerberus-VILO