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skywoodsz / qm_control

Quadruped manipulator controller using model predictive control and whole body control based on OCS2
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请问启动后机械狗趴着怎么站起来呢 #6

Closed dbdxnuliba closed 1 year ago

dbdxnuliba commented 1 year ago

您好我遇到了机器人站立不起来不受手柄控制的情况，请帮看下，谢谢 我的操作步骤是： 1.roslaunch qm_gazebo empty_world_mpc.launch 然后点击gazebo的运行按钮效果如下 image

然后运行2.roslaunch qm_controllers load_controller.launch image

3.rosrun rqt_controller_manager rqt_controller_manager image

4最后运行roslaunch qm_controllers load_qm_target.launch image

然后按操作手柄，机器人趴着没有反映。 按照您的图片提示按的 image

不过按手柄时终端打印了警告 [ WARN] [1695377080.657051865]: Couldn't set gain on joystick force feedback: Bad file descriptor Gait "" not found 如图： image 我用的手柄是这样的： image 但是/joy话题是正常有的 image

然后rqt_graph看下节点图 image

烦请看下，应该怎么操作才能让机器人站起来呀

skywoodsz commented 1 year ago

您好我遇到了机器人站立不起来不受手柄控制的情况，请帮看下，谢谢 我的操作步骤是： 1.roslaunch qm_gazebo empty_world_mpc.launch 然后点击gazebo的运行按钮效果如下 image

然后运行2.roslaunch qm_controllers load_controller.launch image

3.rosrun rqt_controller_manager rqt_controller_manager image

4最后运行roslaunch qm_controllers load_qm_target.launch image

然后按操作手柄，机器人趴着没有反映。 按照您的图片提示按的 image

不过按手柄时终端打印了警告 [ WARN] [1695377080.657051865]: Couldn't set gain on joystick force feedback: Bad file descriptor Gait "" not found 如图： image 我用的手柄是这样的： image 但是/joy话题是正常有的 image

然后rqt_graph看下节点图 image

烦请看下，应该怎么操作才能让机器人站起来呀

Thanks for your follow!

  1. controllers/qm_controller_arm is not loaded. If you first run this project, you should wait for a while to generate the controller. After the controller is successfully generated, there will be controllers/qm_controller_arm item on rqt_controller_manager. For details, please refer to the video: YouTube, bilibili (for China).
  2. After the controller is successfully started, you can publish the desired position of the end effector on RVIZ to make the robot stand up. Or you can press any enabled button (e.g., RB, LB) of the joy to make the robot stand up.
dbdxnuliba commented 1 year ago

收到，感谢指导，