The Centauro demo cannot be initialized correctly

[XinyuanZhao]

I used the command roslaunch centauro_gazebo centauro_world.launch to launch the demo of Centauro. The urdf model could be loaded to Gazebo successfully. But when I started the simulation, the robot would sit and sprawl on the ground, which means that controllers from XBot plugins were actually not loaded correctly. Some config files in _ADVRshared and _CentauroSimulator should be modified to solve the above problem.

Assume we have set set_xbot_config ADVR_shared/centauro/configs/config_centauro_full_body.yaml. Possible solutions are listed below.

1. In _ADVR_shared/centauro/configs/config_centauro_fullbody.yaml, add the command below in the front and delete everything after GazeboXBotPlugin:. XBotCore: config_path: ADVR_shared/centauro/lower/centauro.yaml
2. In _ADVR_shared/centauro/srdf/centauro_fullbody.srdf, change the value of tip_link from _kneei to _wheeli (line 6, 10, 14, 18)
3. Create a folder lower in _ADVRshared/centauro/ and create a config file centauro.yaml (I suppose the one existing in superbuild works well here).
4. In _centauro/centaurourdf/urdf/centauro.urdf, change the type of joint _j_ft1 from revolute to fixed.

Above are the major steps but not all that I took since there could be minor differences in working environments. For your information. By the way, if you think there is an easier way to fix this problem, please let me know. Thank you.

[liesrock]

This should be solved in the latest version of the model released with XBotControl: can you try to install and test the v1.1.1 ?

Available here: https://github.com/ADVRHumanoids/XBotControl/releases/tag/v1.1.1

Documentation here: https://github.com/ADVRHumanoids/XBotControl/releases/tag/v1.1.1

[liesrock]

Hi @XinyuanZhao, can you please test the new release and give us comments here? Your problem looks solved in other users experience.

[liesrock]

Solved.