mini_cheetah cannot work in gazebo
Jonathan-Twz opened this issue · comments
Hi, I've tried your demo for mini_cheetah, with command roslaunch mini_cheetah_config bringup.launch and then roslaunch mini_cheetah_config gazebo.launch. But the robot cannot stand up in gazebo, and come up with the information below:
[FATAL] [1595421094.629746262]: Failed to unload nodelet '/velocity_smoother' from manager 'nodelet_manager'
[WARN] [1595421124.845966, 1.244000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
The mini_cheetah in gazebo is like:
Could you please help me with what's wrong with my command or how could I fix this bug.
Hi there, this is the same issue as this #5 . You need to add the physics elements required for Mini Cheetah. Meanwhile, you can run it in rviz without modifying the barebones URDF.
A working Gazebo model for the Mini Cheetah is now available. Please check https://github.com/chvmp/robots
