Foot trajectory problem

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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Open JaylenLiao opened 1 month ago

JaylenLiao commented 1 month ago

我使用rosbag将/legged_robot/desiredFeetTrajectory/LF记录下来后，发现足端轨迹的z轴一直为0；同时，/legged_robot/optimizedStateTrajectory节点的数据呈现锯齿状。这是为什么呢？