smiler

icon company Shenyang Institute of Automation, Chinese Academy of Sciences icon location No.114　Nanta Street, Shenhe District, Shenyang, Liaoning Province, P.R.China icon location Hello World~ Model, code and compile the real world~

Results 1 issues of smiler

Seem input parameter wrong with [insertModeSequenceTemplate finalTime in GaitReceiver::preSolverRun function]

This line: https://github.com/leggedrobotics/ocs2/blob/164c26b46bed5d24cd03d90588db8980d03a4951/ocs2_robotic_examples/ocs2_legged_robot_ros/src/gait/GaitReceiver.cpp#L56 I think the third parameter of gaitSchedulePtr_->insertModeSequenceTemplate() shold be (finalTime + timeHorizon) instead of (timeHorizon)? Is it right?