Robot is just Bouncing in Gazebo

chvmp / champ

MIT Cheetah I Implementation

BSD 3-Clause "New" or "Revised" License

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Robot is just Bouncing in Gazebo #68

Open ShubhamNandi opened 2 years ago

ShubhamNandi commented 2 years ago

Hello I'm linking the Repo dd_dot I have made this robot model with Fusion2Urdf Please let me know what have i missed!

rua0ra1 commented 1 year ago

Even I faced the similar issue. check the PID values in control.yaml file inside the your robot config package. Especially start with small P values.

abdu7rahman commented 1 year ago

any update on how you managed to solve this issue?

ShubhamNandi commented 1 year ago

Yes, so the issue is with the PID. This time, I didn't change the PID and I'm using the default values. It's at least not exhibiting the same behavior, but I'm facing new issues now Following is the error msg "TF_OLD_DATA ignoring data from the past for frame rf_shoulder_1 at time 38.73 according to authority unknown_publisher "