search

unitreerobotics / unitree_ros

BSD 3-Clause "New" or "Revised" License
463 stars 224 forks source link

TF tree AlienGo #29

Closed itaouil closed 2 years ago

itaouil commented 2 years ago

Hi @TrivasZhang @Zhaiweiwei0 @ZKBian,

In order to publish the TF tree of the robot I would have to need access to the joint states information of the robot (i.e. the motor state information).

But there is a problem. I can only access those info if I am in low level mode, which is not convenient.

Unfortunately, without the motor info I cannot publish the tf frame....

Is there a way to add motor state information to the high state info? Or run both high level and low level connections at the same time?

TrivasZhang commented 2 years ago

https://github.com/unitreerobotics/unitree_legged_sdk/issues/15

itaouil commented 2 years ago

Ok.

Let us keep the discussion on the other issue :).