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leggedrobotics / art_planner

Local Navigation Planner for Legged Robots
BSD 3-Clause "New" or "Revised" License
137 stars 20 forks source link

How to plan foothold？ #15

Closed xin111222 closed 1 year ago

xin111222 commented 1 year ago

hello，I have a confusion, how do you control the foothold only by controlling cmd_vel?

lorenwel commented 1 year ago

Hi, there must be a misunderstanding. This planner does not perform explicit foothold planning. It rather makes sure that for every planned base position there would be something. In addition, the cmd_vel output is only published by the path follower. This is simply a convenience tool to follow a published path, since velocities are the most common interface to legged robots.