Closed elpimous closed 10 months ago
Legs shouldn't move before the cmd_vel command. (for legs extention) why do they move? Params in reference and task info are for robot up. could it be a Urdf bad value?
Please help guys. Anyone. need to have a work direction. thanks
urdf ok ! same problem :
here is my rviz topics :
Small up, friends ?
UP please @qiayuanliao @LoveThinkinghard
solved, problem of unsigned fftorque !
Hi all, Trying to standup my robot (not a unitree one),
1/ run the robot hardware :
roslaunch legged_unitree_hw legged_unitree_hw.launch
2/ run the controller :
roslaunch legged_controllers load_controller.launch
3/ run the legged_controller :
In this step, legs are moving, and shaking !!
question1 / Do legs want to reach initial pose ? Where to modify the pose ?
question2 / The robot shouldn't move, until I send the
rostopic pub -1 /cmd_vel...
, correct ?