I tried to link with cheetah SIM, but when the robot in SIM walked in a straight line, the robot in rviz was turning (rviz subscribed to the joint position and did not subscribe to IMU)

Question

I tried to link with cheetah SIM, but when the robot in SIM walked in a straight line, the robot in rviz was turning (rviz subscribed to the joint position and did not subscribe to IMU)

1219883141 opened this issue 3 years ago · comments

1219883141 commented 3 years ago

1219883141 · Answer 1 · Thu Oct 21 2021 15:30:13 GMT+0800 (China Standard Time)

tiaoshi04.1.mp4

Juan Miguel Jimeno · Answer 2 · Sun Oct 24 2021 12:35:42 GMT+0800 (China Standard Time)

Hey,

I think that's due to the state estimation node. Champ has a state estimation node that calculates the robot's position from the origin (odom frame) and its speed using the joint position. These values are then fused with an IMU for more accurate positioning.

State Estimation: https://github.com/chvmp/champ/blob/master/champ_base/src/state_estimation.cpp
Sensor Fusion: https://github.com/chvmp/champ/blob/master/champ_base/config/ekf/footprint_to_odom.yaml