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qiayuanl / legged_control

Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls
BSD 3-Clause "New" or "Revised" License
882 stars 221 forks source link

A1 robot lie down on the ground, not stand up in gazebo. #12

Closed JACKLiuDay closed 1 year ago

JACKLiuDay commented 1 year ago

Hi, thank you for your excellent work about this project. I am trying to learn how to use this project for simulation. When I launch the empty_world.launch. The a1 robot just lie down in gazebo. It does not stand up like ANYmal in OCS2. When I type trot, the robot can trot but still not stand up. Could you give me some advice on how to let a1 stand up and walk in gazebo. Thank you so much. image

qiayuanl commented 1 year ago

Make sure you have read the README carefully! Check this section.

JACKLiuDay commented 1 year ago

Make sure you have read the README carefully! Check this section.

Hi, sorry, I am rookie to ROS and this project. I got the reason now and a1 can stand up now. Thank you.

Kashu7100 commented 1 year ago

Could you tell me how to add cmd_vel slider in Rviz?

Thank you

qiayuanl commented 1 year ago

Could you tell me how to add cmd_vel slider in Rviz?

Thank you

rqt_robot_steering

BolunDai0216 commented 1 year ago

For future users, you need to run

rosrun rqt_robot_steering rqt_robot_steering

to open the rqt_robot_steering GUI