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chvmp / champ

MIT Cheetah I Implementation
BSD 3-Clause "New" or "Revised" License
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The robot is not moving forward #46

Open deardost opened 3 years ago

deardost commented 3 years ago

Hi there I tried launching the files below: Screenshot from 2021-03-23 19-28-03

But I ran into the following problems:

  1. Gazebo environment is running in a very slow speed. (My system is Core i5, with 8 gb ram and 2 gb AMD Radeon Graphics Card. I am using Ubuntu 20.04.2 LTS and ROS Noetic. It's installed in SSD). I wonder if my system specs are not sufficient for normal speed.
  2. The robot is doing somewhat rotation almost around it's axis. Would you please tell me why it happens and what's the solution? Thanks in advance for all this help I have attached a video below to show the warnings that I get and to show what the robot does:

https://user-images.githubusercontent.com/74898176/112160318-0c614a00-8c10-11eb-8307-024c079ac467.mp4

grassjelly commented 3 years ago

Your RTF's way too low. Your problem might be related to this: https://github.com/chvmp/champ/issues/14

Alternatively if you just want to try walking the robot, you can try simulating without the assets:

roscd champ_config/worlds
roslaunch champ_config gazebo.launch gazebo_world:=default.world

and use teleop to control the robot

peci1 commented 3 years ago

Solution for proper running using simulation time has been just proposed: https://github.com/chvmp/champ/pull/48 .

deardost commented 3 years ago

@peci1 Forgive me, but I don't understand your proposed solution. I am a noob in github. What do I need to do with the package (champ) that I have cloned to make it run smoothly and not slow? Do I need to update the changes you have made, in the package I have downloaded? Also, I am using ROS Noetic. I hope that's not a problem.

deardost commented 3 years ago

@grassjelly I want full navigation for our robot. We are working on a project. It's quadruped mobile robot. So we want our robot to navigate to the target location, using gps

peci1 commented 3 years ago

Just call git pull --recurse-submodules in the directory where you cloned champ. I'm not sure about Noetic compatibility, but I don't see any general problem for it to not work.

deardost commented 3 years ago

@peci1 nope. That didn't solve my issue. Robot is still spinning around before it reaches final destination.