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unitreerobotics / z1_ros

ros package for z1 simulation
BSD 3-Clause "New" or "Revised" License
12 stars 21 forks source link

building on arm #9

Open siilats opened 1 year ago

siilats commented 1 year ago

z1_controller fails on MotorCmd.h I think dependency not set up it cannot find libunitree_joint_control_tool_arm64.so

when rename to libunitree_joint_control_tool.so and build z1_controller last it works

Agnel-Wang commented 1 year ago

Did you mean this? /home/agnel/test/z1_ws/src/z1_ros/z1_controller/sim/IOROS.h:6:10: fatal error: unitree_legged_msgs/MotorCmd.h: No such file or directory 6 | #include "unitree_legged_msgs/MotorCmd.h" And you just need to catkin_make again.

One more thing, for the Teach issue you mentioned. It's a programming bug where the gripper gravity isn't compensating properly. It's been fixed now.