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chvmp / robots

Collection of quadrupedal robots configured to work in CHAMP development framework
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Go1 robot slam and navigation not working properly #19

Closed Gowresh-MARC closed 1 year ago

Gowresh-MARC commented 1 year ago

When doing slam and navigation of go1 robot, the robot is standstill in rviz but in gazebo it starts moving and rotating in place. The laser data alone moves but the robot model is static. Below is the gif:-

go1

Gowresh-MARC commented 1 year ago

Found out the reason for this behavior. I compared the 'ros_control.yaml' files and found out that the publish rate had to be set to 200 for the joint_states_controller.