Open liyingzhi opened 4 months ago
This line: https://github.com/leggedrobotics/ocs2/blob/164c26b46bed5d24cd03d90588db8980d03a4951/ocs2_robotic_examples/ocs2_legged_robot_ros/src/gait/GaitReceiver.cpp#L56
I think the third parameter of gaitSchedulePtr_->insertModeSequenceTemplate() shold be (finalTime + timeHorizon) instead of (timeHorizon)? Is it right?
This line: https://github.com/leggedrobotics/ocs2/blob/164c26b46bed5d24cd03d90588db8980d03a4951/ocs2_robotic_examples/ocs2_legged_robot_ros/src/gait/GaitReceiver.cpp#L56
I think the third parameter of gaitSchedulePtr_->insertModeSequenceTemplate() shold be (finalTime + timeHorizon) instead of (timeHorizon)? Is it right?