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IntelligentRoboticsLabs / go2_robot

Implementation for Unitree GO 2 in ROS 2
BSD 3-Clause "New" or "Revised" License
76 stars 11 forks source link

Missing the *_thigh and *_hip in tf tree... #13

Closed caicaixia closed 4 days ago

caicaixia commented 2 months ago

Hello, I need help . I followed the introduction and ran this command:ros2 launch go2_bringup go2.launch.py rviz:=True.

I got a broken tf tree and can't see the whole go2. For all the legs, the *_hipand the *_thigh frames are missing. The result is shown in the picture. I checked the go2_description.urdf, and it includes all those links. I don't know what the problem is.

After some time, when I tried again, this time I got the FL_hip and FL_thigh without modifying anything. However, the tf tree still broken with some frames can not seen.

image

caicaixia commented 2 months ago

Sorry for this problem. After I connected with real robot go2, the tf is ok. Thanks