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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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issue with spawning my custom robot in gazebo simulation #42

Open rua0ra1 opened 1 year ago

rua0ra1 commented 1 year ago

Hi, i am trying to use this package to control my robot model in gazebo. I have changed my robot link and joint names to match legged_unitree_description. But, I am facing the following error mpc_control_issue I have observed that it is mainly due to custom gazebo ros plugin section of the urdf gazebo_ros_interface. I really appreciate if you can help me with this issue. And also I am wondering whether I need to create custom hardware interfaces for my robot even though i am testing in gazebo simulation not in physical robot.

rua0ra1 commented 1 year ago

Hi @qiayuanliao , I solved the above issue. If you dont mind, can you tell how can I creare gait.info reference.info and task.info files for my custom robot. Thank you

neozoxix commented 7 months ago

Hi, i am trying to use this package to control my robot model in gazebo. I have changed my robot link and joint names to match legged_unitree_description. But, I am facing the following error mpc_control_issue I have observed that it is mainly due to custom gazebo ros plugin section of the urdf gazebo_ros_interface. I really appreciate if you can help me with this issue. And also I am wondering whether I need to create custom hardware interfaces for my robot even though i am testing in gazebo simulation not in physical robot.

Sorry, can you tell me how to solve that issue ? Thank you

hanzhuchen666 commented 6 months ago

Hi, i am trying to use this package to control my robot model in gazebo. I have changed my robot link and joint names to match legged_unitree_description. But, I am facing the following error mpc_control_issue I have observed that it is mainly due to custom gazebo ros plugin section of the urdf gazebo_ros_interface. I really appreciate if you can help me with this issue. And also I am wondering whether I need to create custom hardware interfaces for my robot even though i am testing in gazebo simulation not in physical robot.

I have the same issue and don't know how to solve it.