1219883141

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)

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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...