Imu hardware, body pose

[Timofeibb]

is it possible to control the position of the robot body by imu? I have a sensor that publishes the data in topic imu/data, the Champ program is installed on the Raspberry Pi4 8gb and connected to a robot with 12 degrees of freedom with servo motors. When I change the position of the robot, /joint_group_effort_controller/joint_trajectory does not change the angle of the motors to maintain a horizontal position. Is this how it should be? Champ does not support body control via imu?

ekf node warn [ekf_node-6] [WARN] [1712468804.749590062] [base_to_footprint_ekf]: Warning: Some linear velocity entries in parameter imu0_config are listed true, but an sensor_msgs/Imu contains no information about linear velocities [ekf_node-6] Warning: imu/data is listed as an input topic, but all its update variables are false

imu topic output header: stamp: sec: 1712468881 nanosec: 593514334 frame_id: imu_link orientation: x: -0.014661329910962492 y: -0.017400852188573537 z: -0.9925796791592449 w: 0.11944804840801623 orientation_covariance:

• 0.0479
• 0.0
• 0.0
• 0.0
• 0.0207
• 0.0
• 0.0
• 0.0
• 0.0041 angular_velocity: x: -1.1347883186739257e-05 y: 1.2482671505413181e-05 z: -1.3617459824087108e-05 angular_velocity_covariance:
• 0.0663
• 0.0
• 0.0
• 0.0
• 0.1453
• 0.0
• 0.0
• 0.0
• 0.0378 linear_acceleration: x: 0.00017757415771484377 y: 0.000186920166015625 z: 0.004810857772827149 linear_acceleration_covariance:
• 0.0364
• 0.0
• 0.0
• 0.0
• 0.0048
• 0.0
• 0.0
• 0.0
• 0.0796

_/joint_group_effort_controller/jointtrajectory output header: stamp: sec: 0 nanosec: 0 frame_id: '' joint_names:

• lf_hip_joint
• lf_upper_leg_joint
• lf_lower_leg_joint
• rf_hip_joint
• rf_upper_leg_joint
• rf_lower_leg_joint
• lh_hip_joint
• lh_upper_leg_joint
• lh_lower_leg_joint
• rh_hip_joint
• rh_upper_leg_joint
• rh_lower_leg_joint points:
• positions:
  • -0.05178706347942352
  • 0.862510621547699
  • -2.0582094192504883
  • 0.05178697407245636
  • 0.8625105023384094
  • -2.0582094192504883
  • -0.05178706347942352
  • 0.862510621547699
  • -2.0582094192504883
  • 0.05178697407245636
  • 0.8625105023384094
  • -2.0582094192504883 velocities: [] accelerations: [] effort: [] time_from_start: sec: 0 nanosec: 16666666

[Timofeibb]

https://github.com/chvmp/champ/assets/70883457/ee9e1323-21cf-4435-b4e6-cd313179774b

solved this problem by changing input topic for body pose and some other additional parts