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ShuoYangRobotics / Cerberus

Visual-Inertial-Leg Odometry For Legged Robots
GNU General Public License v3.0
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Cerberus can be used for different legged robots ? #16

Open bhyu0924 opened 11 months ago

bhyu0924 commented 11 months ago

Using go1 custom dataset, I checked cerberus can work pretty well. But I just found if I use different dataset from bigger robot (lets say Anymal or etc.), cerberus diverged when it starts. I believe this happened due to wrong params for different robots. Any suggestions?

Here are possible issues

  1. different joint order
  2. different leg length (already updated accordingly but still diverged)
  3. different joint encoder and noise param.
ShuoYangRobotics commented 11 months ago

You have to make a new config folder as https://github.com/ShuoYangRobotics/Cerberus/tree/main/config And put your camera parameters and robot transformation parameters in it.

Moreover, the leg kinematics in Cerberus is hand coded. You may want to modify the entire kinematics as shown in https://github.com/ShuoYangRobotics/Cerberus/tree/main/src/legKinematics