Closed liukaishu closed 1 year ago
Hi, this is because the errors of the odometery (a linear Kalman filter that estimates the base position and velocity from base orientation, base acceleration, and joint foot position measurements.)
If you want to use the ground truth, try LeggedCheaterController. NOTE that you shouldn't use this controller in real robot!
Hello, when I run your program and walk for a while, the position of the robot in gazebo and rviz is inconsistent, that is, the spatial position is not uniform, and there is a certain error. May I ask what is the reason and how to solve it?