Hello, thank you for putting this out. Can you tell us what part of the lowState is being used to get the /jointState message:
uint8[2] head
uint8 levelFlag
uint8 frameReserve
uint32[2] SN
uint32[2] version
uint16 bandWidth
IMU imu
MotorState[20] motorState
BmsState bms
int16[4] footForce
int16[4] footForceEst
uint32 tick
uint8[40] wirelessRemote
uint32 reserve
uint32 crc
# Old version Aliengo does not have:
Cartesian[4] eeForceRaw
Cartesian[4] eeForce #it's a 1-DOF force infact, but we use 3-DOF here just for visualization
Cartesian position # will delete
Cartesian velocity # will delete
Cartesian velocity_w # will delete
Also, is there any other conversions between the two? Thanks!
Hello, thank you for putting this out. Can you tell us what part of the lowState is being used to get the /jointState message:
Also, is there any other conversions between the two? Thanks!