This package is in charge of publishing both the joints for the A1 real-world robot and additionally uses other packages to publish the odometry transform and data.
To publish the joint states, the node in a1_joint_states.py is used, which has the following publishers and subscribers.
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/joint_states (sensor_msgs/JointState)
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/foot_contacts (champ_msgs/ContactsStamped)
Shows which feet of the robot are supporting the robot against a surface.
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/feet_forces (unitree_legged_msgs/FeetForces)
Expresses the force exerted in the foot of the robot in the Z axis.
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/feet_polygon (geometry_msgs/PolygonStamped)
Expresses the position of the end of the robot's feet.
Additionally, to estimate odometry, we use the node state_estimation_node from champ_base package which publishes the odom transform and the data to the topic odom/raw.
For a complete execution of all the mentioned above, check the launch file a1_pose.launch in this package.