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mangdangroboticsclub / mini_pupper_ros

ROS 1 & 2 repos based on Mini Pupper legged robots from MangDang
https://mangdang.store/
Apache License 2.0
100 stars 37 forks source link

Odometry is not accurate #65

Closed Tiryoh closed 1 month ago

Tiryoh commented 1 year ago

Reproduction steps

ROS 2 Humble

  1. Run ros2 launch mini_pupper_gazebo gazebo.launch
  2. Launch RViz2
  3. Run ros2 run teleop_twist_keyboard teleop_twist_keyboard

Actual results

As far as I have tested in Gazebo, the odometry topic does not seem to be moving in the forward direction.

https://user-images.githubusercontent.com/3256629/227732242-50a8216c-38c7-402e-ba9d-63a113a9e696.mp4

image

Expected results

ROS 2 Humble Turtlebot3

https://user-images.githubusercontent.com/3256629/227732249-64291e65-7f26-43b5-a8ba-3f6a55392bb9.mp4

ROS 1 Noetic Mini Pupper

https://user-images.githubusercontent.com/3256629/227768479-ec026b0a-2ccd-488f-866c-5199e8c0ef73.mp4

Version

Simulator

Relevant log output

No response

Code of Conduct

Tiryoh commented 1 year ago

image

I've confirmed that this pull request fixes the issue! Great @CullenSUN!