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leggedrobotics / xpp

Visualization of Motions for Legged Robots in ros-rviz
http://wiki.ros.org/xpp
BSD 3-Clause "New" or "Revised" License
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Visualizing New Robot #12

Closed grassjelly closed 5 years ago

grassjelly commented 5 years ago

Hi Alexander,

First of all, thank you for making towr and xpp available to the public.

I've successfully added my robot in towr and visualized it in xpp using my custom visualizer (a modified version of Hyq's). Here's a screenshot after a successful optimization using towr. Although the motion plan looks good as all the ee moved as specified in the kinematic/dynamic constraints, the robot seems to be always suspended in the air.

Screenshot from 2019-08-16 01-05-54

I compared Hyq's URDF with mine and realized that the links are rotated differently. Screenshot from 2019-08-16 01-02-49

Screenshot from 2019-08-16 01-03-44

Just wondering if I have to rotate my robot's links/joints to be the same as Hyq's for the visualizer to work or am I missing something here? Thank you in advance.

My setup is as follows: Ubuntu 16.04 - ROS Kinetic xpp and towr were built from source

grassjelly commented 5 years ago

Closing this now. Solved by reworking on the inverse kinematics library to match my links/joints’ orientation. Thank you!