Ruben Grandia

Hi Ioannis, Great to see an application to Centauro! That is indeed a large amount of DoF. With the multiple shooting solver we have been running systems with a state...

You are correct, hard inequality constraints are currently not there and would be nice to have. It would also not be too hard to do for the SQP solver because...

Hi, thanks for this work, and sorry for getting back to you so late. I think you are on the right track in integrating this. I agree that we should...

What compilation flags are you using? Could you try building in debug mode, and run the node in gdb? Maybe the stack trace can provide some further information

The node didn't start in the gdb screenshot you provided. Change the launch prefix to `launch-prefix="gdb -ex run --args"` After the node crashes, run the command: `backtrace`

All parameter are specified here: https://github.com/leggedrobotics/elevation_mapping_cupy/blob/main/plane_segmentation/convex_plane_decomposition_ros/config/parameters.yaml Maybe it is the resampling resolution of 0.04, you can try setting that -1 or the resolution of your map