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chvmp / champ

MIT Cheetah I Implementation
BSD 3-Clause "New" or "Revised" License
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Robot keeps spinning around / colliding with walls under SLAM mode #49

Open dlee640 opened 3 years ago

dlee640 commented 3 years ago

Hi. I've tested champ default quadruped on willowgarage.world model. When I send 2D Nav Goal via rviz, the robot does slowly approach the destination, but keeps spinning around (seems like the robot gets confused on how to fix yaw) until it gets to that position instead of getting there in a clean fashion. Also, the robot has trouble avoiding walls, as the door passage in the willowgarage is quite narrow and the robot seems to not make it past the door.

I am attaching gifs demonstrating these issues. I noticed from previous post that PR is submitted on #48 for sim time issue and that this behavior may be related to that. However, I am lost on how to fix sim time issue. Can someone help with step by step instruction on how to address this issue?

Thanks a lot!

slam slam_2 slam3

deardost commented 3 years ago

@grassjelly @peci1 Any solution to this?? I don't know how it's working normal on some people systems. I am also facing the same issues; Slow, Spinning around, Colliding, Deviating from it's path

deardost commented 3 years ago

@dlee640 My issue got solved. Actually I deleted back the package. While reinstalling.... Screenshot from 2021-04-16 22-35-21

IF you see 1.1 in the pic above, the first line of code is installing python-rosdep. Last time when I ran this first line of command, it threw some error. I ignored and carried on further steps. This time, I changed it. sudo apt install -y python-rosdep is for earlier versions. To be able to install it on ROS-Noetic, you have to change it to sudo apt install -y python3-rosdep

This step worked for me and the issue of spinning of the robot did not appear this time. Hope it helps.

grassjelly commented 3 years ago

hey @dlee640 have you resolved this issue?