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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
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always lying down #15

Closed zw199502 closed 1 year ago

zw199502 commented 1 year ago

following the quick start, why are both the simulated and real A1 robots lying down? When I selected the trot gait, the robot did trot but the robot base was close to the ground.

qiayuanl commented 1 year ago

Read the document carefully!

elpimous commented 1 year ago

@zw199502 You missed : 

rosservice call /controller_manager/switch_controller "start_controllers: ['controllers/legged_controller']                   
stop_controllers: ['']
strictness: 0
start_asap: false
timeout: 0.0"

and

rostopic pub -1 /cmd_vel geometry_msgs/Twist "linear:
  x: 0.0
  y: 0.0
  z: 0.2
angular:
  x: 0.0
  y: 0.0
  z: 0.0"
BolunDai0216 commented 1 year ago

Very useful, probably should update the readme to make this more obvious for new users. @qiayuanliao I can do a PR if that's fine with you.