Comments (14)
follow模式会使底盘跟随某一坐标系,主要用于底盘跟随云台。我注意到你无论是仿真还是实物都没有云台。可以试试raw模式(该模式将速度指令视为底盘坐标系下。)或在仿真中仿真整车后再尝试follow模式
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您好,使用raw模式仍为自旋,而且我注意到文档中说明raw模式下底盘无法运动
from rm_control.
这里写错了,需要修
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能否查看/cmd_vel和/controllers/chassis_controller/command这两个话题和四个轮子实际运动表现和/joint_state中显示的四个轮子转速以便于debug?
from rm_control.
能否查看/cmd_vel和/controllers/chassis_controller/command这两个话题和四个轮子实际运动表现和/joint_state中显示的四个轮子转速以便于debug?
可先在仿真进行
from rm_control.
能否查看/cmd_vel和/controllers/chassis_controller/command这两个话题和四个轮子实际运动表现和/joint_state中显示的四个轮子转速以便于debug?
可先在仿真进行
如果仿真的urdf用的是我们提供的,请在gazebo仿真时顺便将坐标系显示出来以让我辨认对应轮子,谢谢!
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您好,使用的的urdf为官方仓库提供的英雄底盘。
FOLLOW模式:
但轮子转速应该由/controllers/chassis_controller/wheels/*/state显示?
2023-02-03.11.36.21.mp4
from rm_control.
您好,使用的的urdf为官方仓库提供的英雄底盘。 FOLLOW模式: 但轮子转速应该由/controllers/chassis_controller/wheels/*/state显示?
2023-02-03.11.36.21.mp4
把mode改为0,即raw模式试试看
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如果觉得这种沟通方式效率不高,你也可以自己打断点debug。在仿真中调试底盘控制器时用attach to process
attach 到 gzsever
,即可对底盘控制器代码打断点。https://www.jetbrains.com/help/clion/attaching-to-local-process.html
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您好,我把mode改为0,raw模式也是一样的情况,x线速度自旋,z角速度直线走,x和z同时给,就原地绕圈+旋转
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我知道原因了,是配置文件错误导致运动学错误。我们将全向轮与麦克纳姆轮的运动学进行了统一。你所使用的配置文件是全向轮的配置,麦克纳姆轮需将相应配置修改如下:https://github.com/rm-controls/rm_config/blob/bcca860bbec206ac69077f5363ae9ffff21b671c/config/rm_controllers/hero.yaml#L33-L56
from rm_control.
您好,我看你们的步兵用的是舵轮,这个全向轮的运动学是不是舵轮的运动学
from rm_control.
您好,我看你们的步兵用的是舵轮,这个全向轮的运动学是不是舵轮的运动学
我们22赛季步兵就是全向轮
from rm_control.
问题已经解决,十分感谢!
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Related Issues (9)
- rm_chassis_controllers包编译报错问题 HOT 2
- 关于rm_gazebo中的rmuc场地文件 HOT 3
- chassis_controller中pid的output输出很小 HOT 6
- 全向轮不能左右运动 HOT 8
- 关于jetson系列的实时内核 HOT 1
- 官方文档Gazebo底盘部分:仿真中底盘无法运动 HOT 1
- 关于无下位机的疑问 HOT 2
- 配置运行rm_hw出现报错 HOT 12
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