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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
854 stars 217 forks source link

some problem about setupImu #61

Open Jiang-sd opened 5 months ago

Jiang-sd commented 5 months ago

微信图片_20240322090356 In this code,when register IMUHandle， there are no pointer reference about imuData_.angularVel etc. Will this achieve data updating when Invoke the function：hardwareintrefaceread，after all，the function "updateStateEstimation" need to get data from imuSensorHandle