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engcang / TROT-Q

ASCC2022 - TROT-Q: TRaversability and Obstacle aware Target tracking system for Quadruped robots
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HOW to run a Demo? #1

Open Helen-Cheung opened 1 year ago

Helen-Cheung commented 1 year ago

I am a beginner in ROS. May I ask why the quadruped robot does not move when I download the code and compile it according to the dependent environment? I found that the Scripts file in TROT-Q doesn't seem to be running.

engcang commented 1 year ago

Hi @Helen-Cheung

If you look into this section of readme, You should move Jackal mobile robot manually to escape, then the robot automatically tracks it.

This block of launch file should be changed to use your joystick. If you do not have joystick. try to move jackal robot publishing /jackal/jackal_velocity_controller/cmd_vel topic in geometry_msgs/Twist type, as this does.

Helen-Cheung commented 1 year ago

Hi @engcang
Thank you for your quick reply! I have used Joystick to control Jackal. But the situation is that only Jackal is moving, and Anymal will not follow it. When I click gazebo_ros_control of 'anymal_b', a prompt appears on the command line. Topic [/data://world/default/model/anymal_b/plugin/gazebo_ros_control/joint_cmd] is not valid. If this is the cause of the problem?
Another question is, should I uncomment MPC_node and FAST-LIO in the main.launch file? I tried this, but still couldn't make Anymal move. Thank you very much.

engcang commented 1 year ago

@Helen-Cheung Yeah, as you mentioned, those two lines should be uncommented in the main.launch file.

I just git cloned, built, and ran the code and it works properly. If you launch both gazebo.launch and main.launch, do you see Rviz with OctoMap and object detection with YOLO? if you cannot, please verify every nodes in the launch files work properly, which means you should check every requirements are installed well.

engcang commented 1 year ago

@Helen-Cheung Any updates?