search

unitreerobotics / unitree_ros_to_real

107 stars 94 forks source link

How to get current state velocity and angular velocity (A1 Unitree)? #40

Open AlexS28 opened 2 years ago

AlexS28 commented 2 years ago

Although I can access the IMU data, there doesn't seem to be any linear state estimation (especially for base velocity and angular velocity)? In the LowState.msg I see Cartesian position and velocity, but the values being sent to those are 0. Is there a way to get base position/velocity or has this not been implemented in the A1 Unitree?

xyq1223 commented 1 year ago

Hello,our robot dog does not support Cartesian position and velocity in the LowState.