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ShuoYangRobotics / Cerberus

Visual-Inertial-Leg Odometry For Legged Robots
GNU General Public License v3.0
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Using front camera Unitree go1 #8

Open SarmVlad opened 1 year ago

SarmVlad commented 1 year ago

Hello, I figured out you are using external realsense camera to get images. Is it possible to run cerberus with stock front camera on go1? And which params should be changed?

ShuoYangRobotics commented 1 year ago

I have never tried that. But if you do, you need to change config files such as camera to imu transformation: https://github.com/ShuoYangRobotics/Cerberus/blob/main/config/go1_config/hardware_go1_vilo_config.yaml#L56 And add correct camera yaml file in the config folder