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chvmp / champ

MIT Cheetah I Implementation

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Hardware Interface read() write()

elpimous opened this issue · comments

commented

Hello @grassjelly .

in your Hardware Integration page, you mention : Publish all the actuators' current angle using sensor_msgs/JointState to 'joint_states' topic.

However, it is not used into your code.

1/ Do you have anywhere, a hardware interface with both read and write functions ?
2/ Could i read imu values, to stabilize robot walk (any idea where i could start ? My imu is working and correctly publishing.)
Take care of you, Juan.
Vincent

commented

hey Vincent, the joint_states is mainly for autonomy (odometry calculation).

You can use an IMU's reading to control the body pose here. Here's a pseudo code.

auto feedback = readIMU();
auto target_pose = req_pose_;
auto new_pose = pid(target_pose, feedback);
body_controller_.poseCommand(target_foot_positions, new_pose);
leg_controller_.velocityCommand(target_foot_positions, req_vel_, rosTimeToChampTime(ros::Time::now()));
kinematics_.inverse(target_joint_positions, target_foot_positions);
commented