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quadruped_ros2_control
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fix go2 config

This commit is contained in:
Huang Zhenbiao 2024-09-20 13:07:59 +08:00
parent f127ff144f
commit 687d549a18
2 changed files with 4 additions and 5 deletions
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1
controllers/unitree_guide_controller/include/unitree_guide_controller/robot/RobotLeg.h
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@ -10,7 +10,6 @@
#include <kdl/chainiksolverpos_lma.hpp> #include <kdl/chainiksolverpos_lma.hpp>
#include <kdl/chainjnttojacsolver.hpp> #include <kdl/chainjnttojacsolver.hpp>
#include <kdl_parser/kdl_parser.hpp> #include <kdl_parser/kdl_parser.hpp>
#include <kdl/chainidsolver_recursive_newton_euler.hpp>
#include <unitree_guide_controller/common/mathTypes.h> #include <unitree_guide_controller/common/mathTypes.h>
class RobotLeg { class RobotLeg {

8
descriptions/go2_description/config/robot_control.yaml
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@ -48,10 +48,10 @@ unitree_guide_controller:
- velocity - velocity
feet_names: feet_names:
- FR_FOOT - FR_foot
- FL_FOOT - FL_foot
- RR_FOOT - RR_foot
- RL_FOOT - RL_foot
imu_name: "imu_sensor" imu_name: "imu_sensor"