adapting hyperdog urdf to ros1

[diego112891]

I am working on a project focused on mapping and navigation using the HyperDog quadruped robot in ros2. This is the final goal of my project. However, I have encountered issues with the HyperDog robot due to a bug that causes it to only slide instead of walking. The creator of the robot mentioned that they have not been able to find a solution for this issue. To address this, I plan to implement the CHAMP control framework, as the discussions in the repository suggest it is compatible for controlling the robot.

Before implementing CHAMP in ROS2, I wanted to test it in ROS1 to use the Robot Setup Assistant and becasue there is no bug with ros_control inr ros1. However, I am facing difficulties in doing so. Specifically, I would like to ask for your guidance on the proper way to create the URDF. I generated a URDF from the xacro files, but the body of the robot does not appear in Gazebo, but it does in rviz.

hyperdogurdf.txt

thats the urdf that i modified please comment any advice that you have any help is welcomed

if you have used champ before and have an advice to use this framewrok with this robot please comment on this issue from the champ repository. https://github.com/chvmp/champ/issues/150

[diego112891]

update

the body of the robot finally appeared in Gzebo the problem was that I left a space " " in the name of one of the links and i also replaced the line <mesh filename= "File:///home/diego/champ_prueba_Ws/src/urdf_hyperdog/meshes/body.stl" scale="0.001 0.001 0.001"/> with <mesh filename="package://urdf_hyperdog/meshes/body.stl" scale="0.001 0.001 0.001"/> and that resolved the issue.

the bad news is that the robot still doesnt work properly. When te controllers are loaded instead of standing up this happens and also doesnt move

and this is what happens when i try to move it rviz

i dont know what to do to make the robot work properly maybe this part of the urdf is not well declared?