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costashatz / nao_gazebo

ROS Packages to simulate Aldebaran's NAO Humanoid in Gazebo through NAOqi Simulator SDK
BSD 3-Clause "New" or "Revised" License
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Initialize actuators #1

Closed jlanca closed 9 years ago

jlanca commented 9 years ago

NAOqi produced an error when starting the walk because some data was not initialized. This commit should fix that issue.

Note that I have initially tested it based on c82b1f2cb652e3f85fca1f76cd06c516c5f65d39, and I could see Nao take 2 or 3 steps before falling forward. With the latest commits the steps are less smooth. It might be related to the change restoring collisions? (62a460f12f2b3627c39b8badec4d18c39f6bde09)

vrabaud commented 9 years ago

Thx @jlanca !

costashatz commented 9 years ago

Excellent @jlanca !! I will merge the PR asap.. I will check the collisions meshes and contacts to see if something is not as it should be.

Now PID tuning is the next step!