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abizovnuralem / go2_ros2_sdk

Unofficial ROS2 SDK support for Unitree GO2 AIR/PRO/EDU
BSD 2-Clause "Simplified" License
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/point_cloud2 topic freezes when executing customized movements #43

Closed kseniia99kh closed 3 months ago

kseniia99kh commented 3 months ago

Hi, thank you for sharing the code! When i start ros2 launch go2_robot_sdk robot.launch.py, I can see the point cloud data for /robot0/point_cloud2, but if I execute the customized movement (using the physical controller, such as "sit down"), the said topic seems to freeze, and as soon as the robot returns into the standing position, it resumes the publishing...

before executing the customized movement: image during "sitting down": image and after returning to initial position: image

Is there another way to position robot in a similar stance so it's possible to still generate the 3D map? Reason for this being a need to scan the whole room, including the ceiling

abizovnuralem commented 3 months ago

Hello, when the dog is in a sit-down position, the point cloud is not publishing any data, it should not be freezing. If you still want to get the point cloud while the dog is sitting, use cycloneDDS. In that case, the point cloud stream is working in any conditions.