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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
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T265 use and legged_cheater_controller physical use problem #23

Closed 123FengzhiLi123 closed 1 year ago

123FengzhiLi123 commented 1 year ago

Hello, I see in your video, there is T265, how is this piece added and used, and why the command legged_cheater_controller is not allowed in the actual product, thank you for sharing this project

qiayuanl commented 1 year ago
  1. Rigid attach the T265 to the robot's body
  2. Add the URDF of T265 to the robot.xarco correctly
  3. Remap the T265's output topic to /tracking_camera/odom/sample

The stateEstimator will receive data from T265 and handle all transformations, then overwrite the robot position with data from T265.