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quadruped_ros2_control
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15 Commits

Author SHA1 Message Date
Huang Zhenbiao 0ff1b344e7 add estimator 2024-10-15 22:40:15 +08:00
Huang Zhenbiao 07e3cf086e add estimator 2024-10-15 20:17:03 +08:00
Zhenbiao Huang ff374d7005 used share_ptr rather than reference in CtrlComponent 2024-10-10 20:31:03 +08:00
Huang Zhenbiao 5f9a55440e can walk but cannot turn on go2 robot 2024-09-19 17:16:17 +08:00
Huang Zhenbiao 2ee53e2f51 still struggle with trot 2024-09-19 14:00:43 +08:00
Huang Zhenbiao af6599e904 use unitree rotation calculation 2024-09-18 21:48:14 +08:00
Huang Zhenbiao f0a5257852 trot but not stable 2024-09-18 19:37:01 +08:00
Huang Zhenbiao da5be83eda refact with reference 2024-09-18 13:52:37 +08:00
Huang Zhenbiao 85be4715ab refact with reference 2024-09-18 12:29:26 +08:00
Huang Zhenbiao 657029864e using kdl::RPY 2024-09-17 19:42:21 +08:00
Huang Zhenbiao 8cedc4f422 balance control achieved 2024-09-17 18:21:04 +08:00
Huang Zhenbiao 79fc0677f5 can stand but not stable 2024-09-17 14:03:08 +08:00
Huang Zhenbiao 5eaf8e1e17 tried to add balance test 2024-09-16 21:15:34 +08:00
Huang Zhenbiao 028b7b52b1 add imu estimator 2024-09-16 13:44:08 +08:00
Zhenbiao Huang 9646e428c6 fixed the frequency problem 2024-09-14 17:54:39 +08:00