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chvmp
The robot is not moving forward
Hi there
I tried launching the files below:
But I ran into the following problems:
- Gazebo environment is running in a very slow speed. (My system is Core i5, with 8 gb ram and 2 gb AMD Radeon Graphics Card. I am using Ubuntu 20.04.2 LTS and ROS Noetic. It's installed in SSD). I wonder if my system specs are not sufficient for normal speed.
- The robot is doing somewhat rotation almost around it's axis. Would you please tell me why it happens and what's the solution? Thanks in advance for all this help I have attached a video below to show the warnings that I get and to show what the robot does:
https://user-images.githubusercontent.com/74898176/112160318-0c614a00-8c10-11eb-8307-024c079ac467.mp4
Your RTF's way too low. Your problem might be related to this: https://github.com/chvmp/champ/issues/14
Alternatively if you just want to try walking the robot, you can try simulating without the assets:
roscd champ_config/worlds
roslaunch champ_config gazebo.launch gazebo_world:=default.world
and use teleop to control the robot
Solution for proper running using simulation time has been just proposed: https://github.com/chvmp/champ/pull/48 .
@peci1 Forgive me, but I don't understand your proposed solution. I am a noob in github. What do I need to do with the package (champ) that I have cloned to make it run smoothly and not slow? Do I need to update the changes you have made, in the package I have downloaded? Also, I am using ROS Noetic. I hope that's not a problem.
@grassjelly I want full navigation for our robot. We are working on a project. It's quadruped mobile robot. So we want our robot to navigate to the target location, using gps
Just call git pull --recurse-submodules in the directory where you cloned champ. I'm not sure about Noetic compatibility, but I don't see any general problem for it to not work.
@peci1 nope. That didn't solve my issue. Robot is still spinning around before it reaches final destination.