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bridgedp / hunter_bipedal_control

An open source bipedal robot control framework, based on non-linear MPC and WBC, tailered for EC-hunter80-v01 bipedal robot.
MIT License
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RVIZ display problem #5

Open ZhangLiang-Cencen opened 9 months ago

ZhangLiang-Cencen commented 9 months ago

Thanks for your good work! I encountered a problem. When I press ctrl+shift+R, rviz has a display problem. And Gazebo is all right. Could you please tell me how to solve this problem? Screenshot from 2024-02-20 10-25-00

ZhangLiang-Cencen commented 9 months ago

The possible reason is that the conversion between base_link and odom_link mutated during the reset. But how to solve it? Screenshot from 2024-02-20 11-34-15

QNXLQ commented 9 months ago

I tried it, it seems like the visual model is reseted to infinite location in rviz XD, maybe the tf have a little problem after we reset the robot in gazebo?

LoveThinkinghard commented 9 months ago

This is because, during the reset process of state estimation, the estimated position of the robot experienced a significant deviation. This does not affect its use.

Perhaps this can be eliminated through some small tricks. Pull requests for improvements are welcome, if someone has a good idea.

这是因为状态估计在重置的过程中，估计的机器人的位置发生了很大的偏移。这并不影响使用。

或许可以通过一些小技巧来消除这个问题。如果有人有好的想法，欢迎提交改进的拉取请求。

linzuen commented 9 months ago

Maybe you can try sending the following command before load controllers : 

rostopic pub --once /reset_estimation std_msgs/Float32 "data: 1.23"