search

qiayuanl / legged_control

NMPC, WBC, state estimation, and sim2real framework for legged robots based on OCS2 and ros-controls
BSD 3-Clause "New" or "Revised" License
939 stars 228 forks source link

cann't switch legged_controller when apply on hardware? #14

Closed zhuiyuehun closed 1 year ago

zhuiyuehun commented 1 year ago

Hi, thank you for sharing your project legged_control，Follow the instructions, running legged_unitree_hw.launch on computer, but when use rqt_controller_manager to start the controller, the rqt_program stucked everytimes. what should i do can fix it ?

zhuiyuehun commented 1 year ago

Using rqt_controller_manager to start the controller is success in gazebo

qiayuanl commented 1 year ago

Could you make sure you are using the last code? This problem was fixed in this commit two weeks ago.

qiayuanl commented 1 year ago

Sorry, I made a mistake. This problem should be solved in this commit.