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DeepRoboticsLab / Lite3_Model_Control

Simulation Project For Lite3 Model Control
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cannot control Lite3 to move #2

Open Zvch17 opened 1 week ago

Zvch17 commented 1 week ago

Hi,

I'm trying to use high_level_sim to simulate Lite3's movements in Gaezbo. I followed the Simulation_Manual.md in high_level_sim, successfully starting the Gazebo simulator and loading a robot, but I can not control the robot to move as I run example_keyboard. How can I correctly control the robot with the keyboard?

yyang0802 commented 1 week ago

Please check if the Enter key is pressed before running example_keyboard.

image

Zvch17 commented 1 week ago

Thanks for reply. I have checked that I pressed the Enter key. Here is what I have done:

  1. run roslaunch gazebo_model_spawn gazebo_startup.launch in a new terminal and I got an empty world in gazebo
  2. run roslaunch gazebo_model_spawn model_spawn.launch in a new terminal and I got a Lite3 robot in gazbeo
  3. press Enter key in the Step 2's terminal and I got the return showing every contrller correctly loaded image
  4. run the rosrun examples example_lite3_sim in a new terminal, the robot stood up and the terminal returned data as following: image
  5. run rosrun examples example_keyboard in a new terminal, when I pressed w, a, s, d, the data on the '/joy' rostopic changed, but the robot didn't move.

Also, I tried to stop the example_lite3_sim and use example_keyboard only, and the data on the '/joy' rostopic changed while the robot didn't move. I tried to check the code of example_lite3_sim but it is complicated. Is it because the data on 'joy' needs to be translated to other types of data, but example_keyboard acutually does not do this?