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csiro-robotics / syropod_highlevel_controller

OpenSHC: A Versatile Multilegged Robot Controller
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Touchdown detection and Rough terrain mode #16

Open 23pierre10 opened 3 years ago

23pierre10 commented 3 years ago

Hi all, I have a question concerning rough terrain mode, I am trying to do touchdown detection using FSR and I am not sure about how I am supposed to link the information to the openSHC controller. I guess information should be published to the /tip_states topic.. Can it be only published in the "force" section of that message type ? or do I need to put extra information ? So far I can get the walking plan to move up using a random force value on z. Is it important to play around with the step depth and the stiffness and damping parameters to do rough terrain locomotion ? Thanks a lot !

23pierre10 commented 3 years ago

When I publish tip force I get this error after a short time:

terminate called after throwing an instance of 'std::out_of_range' what(): map::at (the step plane position seems to be updated to the tip pose position however it doesn't look good at all)