leggedrobotics / cerberus_anymal_locomotion Goto Github PK

Can I get the joint torque of the robot？

I found that effort is always zero in joint publish. Can we get the joint torque information?

I've been doing more testing on the subt system, and have noticed that the robot cannot stop or climb up the hill in the map that is loaded in the competition.ign launch file.

This can be verified by starting the robot at location something like position (48, -1.5, -4.45) and trying to go up the hill. The robot moves its legs but does not progress up at all. If you move the robot to the top of the hill and start it moving down, then try to stop, it will not stop.

The robot may fall down sometimes. Can the robot automatically recover after falling?

I have been testing the basic control commands in the subt simulator with the PR at osrf/subt#383, following instructions in the readme to set up this package. As I understand from https://github.com/osrf/subt/blob/model_pr_434/submitted_models/cerberus_anymal_sensor_config_1/specifications.md, the motion commands have a fixed velocity.

In my case, the velocity rotation is much too high, causing the robot to consistently fall over after a few seconds of rotation.

I send

rostopic pub /anymal/cmd_vel geometry_msgs/Twist "linear:
  x: 0
  y: 0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.2"

Which appears to be the minimum angular.z which makes the robot rotate. Below is a gif of the result. So far this has happened 5/5 times where I have sent a rotation command while testing.

Can you suggest any reason why this might be happening? The translational velocity seems to be reasonable and the robot doesn't fall over.