fix go2 config

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

 class RobotLeg {
--- a/descriptions/go2_description/config/robot_control.yaml
+++ b/descriptions/go2_description/config/robot_control.yaml
@ -48,10 +48,10 @@ unitree_guide_controller:
      - velocity

    feet_names:
-      - FR_FOOT
-      - FL_FOOT
-      - RR_FOOT
-      - RL_FOOT
+      - FR_foot
+      - FL_foot
+      - RR_foot
+      - RL_foot

    imu_name: "imu_sensor"