Cerberus
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ShuoYangRobotics
Visual-Inertial-Leg Odometry For Legged Robots
Thank you for your all contributions of these work. I'm a master degree student in SLAM research area. Your previous work, the Cerberus: VILO, 2023, was so reliable and amazing....
Hi, may I know which code is the "vilo/odometry" topic publishing at? I can't seem to find it. 
The following error occurs after `docker build .`: `GPG error: http://snapshots.ros.org/melodic/final/ubuntu bionic InRelease: The following signatures were invalid: EXPKEYSIG AD19BAB3CBF125EA ROS Spanshot builder ` The workaround is to update the...
I have plotted the campus bagfile as mentioned. I managed to get the shape when plotting x and y.  However, when I plot the z position, it is always...
Using go1 custom dataset, I checked cerberus can work pretty well. But I just found if I use different dataset from bigger robot (lets say Anymal or etc.), cerberus diverged...
rviz weirdly crashes for me inside the devcontainer, everytime I try to tweak some window setting (such as maximize/minimize) or generally play around with the rviz interface. The rosbags work...
How do you get data from imu and sensor_msgs/JointState in unitree go1 ?
Hello, thank you for putting this out. Can you tell us what part of the lowState is being used to get the /jointState message: ``` uint8[2] head uint8 levelFlag uint8...
Hello, I'm interested in adapting Cerberus for use with the Aliengo robot and would greatly appreciate your guidance. I have experience with ROS and legged robots and would like to...
During my compilation process, I encountered an error stating that the "camera models" package was not found. I have checked the downloaded source files and Docker, but I couldn't locate...
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Visual-Inertial-Leg Odometry For Legged Robots