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chvmp / champ_setup_assistant

CHAMP Package Config Generator
BSD 3-Clause "New" or "Revised" License
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Robot works fine in RVIZ but not loading in Gazebo #10

Closed ShubhamNandi closed 2 years ago

ShubhamNandi commented 2 years ago

I created the urdf model using the Fusion2URDF plugin in Fusion360. I am also providing the repo link for the respective pkg Below are the imgs from Gazebo and RVIZ

Screenshot 2021-09-17 at 12 29 24 AM Screenshot 2021-09-17 at 12 29 57 AM Screenshot 2021-09-17 at 12 28 59 AM

grassjelly commented 2 years ago

You'll need to modify the URDF generated from the plugin and comply with these assumptions: https://github.com/chvmp/champ_setup_assistant#31-using-a-urdf-file. The current IK engine only works if the axes of rotation for the hip, upper leg, and knee are the same as the one mentioned on the document.

ShubhamNandi commented 2 years ago

Yes, the axis of rotation is the same as mentioned in the docs So, I change the PID values, in the config pkg that's created; doing so my robot is launched properly but it's bouncing all over the place, possibly due to the untuned PID values. So basically in RVIZ its works great but in the gazebo, it's not as expected!

grassjelly commented 2 years ago

thanks! Please close the issue if the reported issue was resolved. Thanks!

ShubhamNandi commented 2 years ago

No, it's not yet solved it just bouncing around in my gazebo how do I fix that? I'm not able to load the model in Gazebo as required

grassjelly commented 2 years ago

Can you open a new issue? Please close If you managed to solve the issue (loading the model in gazebo)

ShubhamNandi commented 2 years ago

ok sure