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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
939 stars 228 forks source link

A1 can't stand and something wrong with rviz #5

Closed P1terQ closed 2 years ago

P1terQ commented 2 years ago

I follow the order : 1.roslaunch unitree_description empty_world.launch 2. roslaunch legged_controllers load_controller.launch cheater:=true 3.rosrun rqt_controller_manager rqt_controller_manager 4.start the legged_controller option in rqt_controller_manager 5.enter the gait . The motors move in the gait i entered but the robot keep lie on the ground When i use rviz, there is no robot or scroll bar, and it give an error in the Global Status: unknown frame map. How can I fix this problem?

qiayuanl commented 2 years ago

Set the fixed frame of RViz to odom.

P1terQ commented 2 years ago

the error in rviz disappeared, but still no robot and scroll bar. I notice there is a warn in the roslaunch unitree_description empty_world.launch window, [ WARN] [1664017856.345256560, 10.290000000]: The root link base has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. Is it normal?

qiayuanl commented 2 years ago

the error in rviz disappeared, but still no robot and scroll bar. I notice there is a warn in the roslaunch unitree_description empty_world.launch window, [ WARN] [1664017856.345256560, 10.290000000]: The root link base has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. Is it normal?

Yes, it's normal.

qiayuanl commented 2 years ago

the error in rviz disappeared, but still no robot and scroll bar. I notice there is a warn in the roslaunch unitree_description empty_world.launch window, [ WARN] [1664017856.345256560, 10.290000000]: The root link base has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. Is it normal?

The robot and scroll bar need to be added by yourself, you should learn how to use Rviz and rqt. This is some basics of ROS, I also suggest you should learn the brief introduction tutorial of ROS before play with this project.