Hello, I'm currently trying to deploy the quad-sdk to my quadruped robot, but I'm encountering some problems.
Since my hardware doesn't have a mocap system, I'm using the ekf-hardware version, and I've already added all the communication interfaces (including IMU and motor interaction). I'm now facing the following issues during the physical deployment. Could you please help me with this?
First, I run roslaunch quad_utils robot_driver.launch, and then I start roslaunch quad_utils remote_driver.launch to load the map data. The robot stands up normally, and I can see it standing in RViz. However, it then falls vertically out of the map. Later, when running gait planning, I get an error indicating that the robot is outside the map.
Furthermore, when I run roslaunch quad_utils quad_plan.launch reference:=twist before it falls out of the map, the hardware behaves as if the legs are almost fully extended, as if they haven't touched the ground and are continuously extending.
This problem has been bothering me for almost two months. Could you please provide some guidance?
Hello, I'm currently trying to deploy the quad-sdk to my quadruped robot, but I'm encountering some problems.
Since my hardware doesn't have a mocap system, I'm using the ekf-hardware version, and I've already added all the communication interfaces (including IMU and motor interaction). I'm now facing the following issues during the physical deployment. Could you please help me with this?
First, I run
roslaunch quad_utils robot_driver.launch, and then I startroslaunch quad_utils remote_driver.launchto load the map data. The robot stands up normally, and I can see it standing in RViz. However, it then falls vertically out of the map. Later, when running gait planning, I get an error indicating that the robot is outside the map.Furthermore, when I run
roslaunch quad_utils quad_plan.launch reference:=twistbefore it falls out of the map, the hardware behaves as if the legs are almost fully extended, as if they haven't touched the ground and are continuously extending.This problem has been bothering me for almost two months. Could you please provide some guidance?