search

chvmp / champ

MIT Cheetah I Implementation
BSD 3-Clause "New" or "Revised" License
1.52k stars 354 forks source link

Pointcloud2 not working in simulator #84

Closed amirandamoreno closed 2 years ago

amirandamoreno commented 2 years ago

Hello all,

I hope you can help me to solve this issue, I was trying to work with the unitree cloning the model config as indicated, the problem comes when i run the following launching file:

roslaunch go1_config gazebo.launch

the simulator works as expected, but the problem comes when I try to visualize in rviz the pointcloud2 /camX/point_cloud_XXXX.

It gives an error saying: "Failed to transform from frame [/camera_optical_face] to frame [xxxxxx]. I this that / at the beginning of camera_optical_face is making things work wrong. Is there any idea on how to solve this issue?

I'm sending the picture of rviz so that you can understand better the problem

Captura

Thanks in advance

grassjelly commented 2 years ago

Hey @amirandamoreno . I believe this is related to the plugin used in Go1's URDF https://github.com/unitreerobotics/unitree_ros . It's not supported in this repository unfortunately. However you could simulate the poincloud by adding a standard sensor and map it to the same sensor topic.

grassjelly commented 2 years ago

Closing this for now.