qiayuanl / legged_perceptive Goto Github PK

#include <ocs2_sphere_approximation/PinocchioSphereKinematics.h>
你好，这个头文件是必须的吗，我在ocs2仓库中没有找到这个，请问一下是在哪，谢谢了

Ubuntu 20.04
ROS noetic

when I ran catkin build convex_plane_decomposition_ros It occured

/usr/include/boost/parameter/config.hpp:61: note: this is the location of the previous definition 61 | #define BOOST_PARAMETER_MAX_ARITY BOOST_MPL_LIMIT_VECTOR_SIZE | /usr/bin/ld: CMakeFiles/convex_plane_decomposition_ros_TestShapeGrowing.dir/test/TestShapeGrowing.cpp.o: undefined reference to symbol '__gmpn_com' /usr/bin/ld: /lib/x86_64-linux-gnu/libgmp.so.10: error adding symbols: DSO missing from command line collect2: error: ld returned 1 exit status make[2]: *** [CMakeFiles/convex_plane_decomposition_ros_TestShapeGrowing.dir/build.make:227：/home/skywalker/quardroped/devel/.private/convex_plane_decomposition_ros/lib/convex_plane_decomposition_ros/convex_plane_decomposition_ros_TestShapeGrowing] 错误 1 make[1]: *** [CMakeFiles/Makefile2:225：CMakeFiles/convex_plane_decomposition_ros_TestShapeGrowing.dir/all] 错误 2 make[1]: *** 正在等待未完成的任务.... make: *** [Makefile:141：all] 错误 2

Hi @qiayuanl,
Thanks for this rich work.

I try adding some obstacles in empty_world but the robot does no see them. Looks like the convex segmented planes are properly displayed (but not the entire grid map). I'm using your legged_perceptive_controllers/config/rviz.rviz file.

I have removed the T265 camera in robot.xacro.

Thank you very much for your help.

When I was simulating in Gazebo, the robot suddenly fell after covering some distance, and the following error message appeared in the terminal. Could you please advise on how to fix it?

GridMap: atPosition(...): Position is out of range.

The following is a simulation video:

Thank you for the great work.

This code has been a valuable learning resource for me, and I hope it will be helpful to others as well.

1. I found that lastStandMiddleTime is not updated in ConvexRegionSelector.cpp.
   Although I could not fully understand the code, it might be fixed as follows:

if (!numerics::almost_eq(standMiddleTime, lastStandMiddleTime)) {
     lastStandMiddleTime = standMiddleTime
...

2. Although the code works great, I think there are some improvements to be made in the swing trajectory generation :

• During steps, the swing trajectory passes through the terrain, which might be related to the collision penalty.
• On slopes, the swing trajectory does not seem to work properly. The trajectory is generated too high, especially showing a tendency to rise on downhill slopes. I tried to solve this problem (by modifying foot height or adding some coding tricks), but it still does not work well.
  

hi，everyone

When the code runs normally, the robot can stably traverse smaller obstacles. However, when continuously crossing several higher obstacles, the robot becomes unstable and falls. I am not sure if it is due to the lower calculation frequency or if there is an issue with the foot placement selection. Has anyone encountered this issue? could you give some advice?

Thank you, everyone.

Below is a simulation process video.

When I executed the command 'roslaunch legged_perceptive_description empty_world.launch,' I encountered the following error. How can I resolve this? Thank you.

[FATAL] [1699771088.270439733, 0.184000000]: Package[realsense2_description] does not have a path
Service call failed: service [/gazebo/spawn_urdf_model] responded with an error:
[ERROR] [1699771088.270801, 0.184000]: Spawn service failed. Exiting.
[spawn_urdf-5] process has died [pid 28405, exit code 1, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -z 0.4 -param legged_robot_description -urdf -model go1 __name:=spawn_urdf __log:=/home/zhang/.ros/log/0745602a-8126-11ee-8198-4889e7e4a71e/spawn_urdf-5.log].
log file: /home/zhang/.ros/log/0745602a-8126-11ee-8198-4889e7e4a71e/spawn_urdf-5*.log

The following video demonstrates the error encountered.

Hi @qiayuanl and everyone
Thinks for your rich work!

The project works very well when using the D435 sensor alone, but when I add the t265, there is a problem that the controller cannot be loaded.Could you please advise on how to slove this?

Think you very much for your help!

Hi, thank you for your great work about legged_perceptive. I have some errors when launch load_controller.launch

When I finished launching Gazebo and entered the command 'roslaunch legged_perceptive_controllers load_controller.launch' in the terminal, the following error occurred:

Has anyone encountered this before? How should it be resolved?

[ERROR] [1699791872.342870409]: Failed to load nodelet [/livox_left_filter] of type [sensor_filters/pointcloud2_filter_chain] even after refreshing the cache: According to the loaded plugin descriptions the class sensor_filters/pointcloud2_filter_chain with base class type nodelet::Nodelet does not exist. Declared types are imu_filter_madgwick/ImuFilterNodelet laser_filters/scan_to_cloud_filter_chain pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid
[ERROR] [1699791872.342943599]: The error before refreshing the cache was: According to the loaded plugin descriptions the class sensor_filters/pointcloud2_filter_chain with base class type nodelet::Nodelet does not exist. Declared types are imu_filter_madgwick/ImuFilterNodelet laser_filters/scan_to_cloud_filter_chain pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid
[FATAL] [1699791872.343083695]: Failed to load nodelet '/livox_left_filterof typesensor_filters/pointcloud2_filter_chainto managerpoint_cloud_manager'
[ERROR] [1699791872.382151614, 15.386000000]: Failed to load nodelet [/livox_right_filter] of type [sensor_filters/pointcloud2_filter_chain] even after refreshing the cache: According to the loaded plugin descriptions the class sensor_filters/pointcloud2_filter_chain with base class type nodelet::Nodelet does not exist. Declared types are imu_filter_madgwick/ImuFilterNodelet laser_filters/scan_to_cloud_filter_chain pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid
[ERROR] [1699791872.382325156, 15.386000000]: The error before refreshing the cache was: According to the loaded plugin descriptions the class sensor_filters/pointcloud2_filter_chain with base class type nodelet::Nodelet does not exist. Declared types are imu_filter_madgwick/ImuFilterNodelet laser_filters/scan_to_cloud_filter_chain pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid
[FATAL] [1699791872.382521467, 15.387000000]: Failed to load nodelet '/livox_right_filterof typesensor_filters/pointcloud2_filter_chainto managerpoint_cloud_manager'
[ WARN] [1699791872.441934846]: Could not configure the filter chain. Will publish the raw elevation map without postprocessing!
[ INFO] [1699791872.453172434]: Elevation mapping node started.
[ INFO] [1699791872.491073583]: Elevation map grid resized to 167 rows and 167 columns.
[ INFO] [1699791872.612192194, 15.605000000]: Subscribing to pointcloud: /front_camera/depth/color/points, queue_size: 1.
[livox_right_filter-5] process has died [pid 24921, exit code 255, cmd /opt/ros/melodic/lib/nodelet/nodelet load sensor_filters/pointcloud2_filter_chain point_cloud_manager ~input:=/livox/lidar_192_168_8_101 ~output:=/livox/right __name:=livox_right_filter __log:=/home/zhang/.ros/log/6219f5da-8156-11ee-8198-4889e7e4a71e/livox_right_filter-5.log].
log file: /home/zhang/.ros/log/6219f5da-8156-11ee-8198-4889e7e4a71e/livox_right_filter-5*.log
[livox_left_filter-6] process has died [pid 24931, exit code 255, cmd /opt/ros/melodic/lib/nodelet/nodelet load sensor_filters/pointcloud2_filter_chain point_cloud_manager ~input:=/livox/lidar_192_168_8_102 ~output:=/livox/left __name:=livox_left_filter __log:=/home/zhang/.ros/log/6219f5da-8156-11ee-8198-4889e7e4a71e/livox_left_filter-6.log].
log file: /home/zhang/.ros/log/6219f5da-8156-11ee-8198-4889e7e4a71e/livox_left_filter-6*.log

Below is the video of the error.

The folders in the 'src' directory are as follows:

├── blasfeo
│   ├── auxiliary
│   ├── benchmarks
│   ├── blas_api
│   ├── blasfeo_hp_cm
│   ├── blasfeo_hp_pm
│   ├── blasfeo_ref
│   ├── blasfeo_target.h.in
│   ├── blasfeo_wr
│   ├── Changelog.txt
│   ├── cmake
│   ├── CMakeLists.txt
│   ├── doc
│   ├── examples
│   ├── experimental
│   ├── guidelines.md
│   ├── include
│   ├── kernel
│   ├── lib
│   ├── LICENSE.txt
│   ├── Makefile
│   ├── Makefile.external_blas
│   ├── Makefile.rule
│   ├── microbenchmarks
│   ├── netlib
│   ├── README.md
│   ├── sandbox
│   ├── tests
│   ├── TODOlist.txt
│   ├── utils
│   └── version
├── cgal5_catkin
│   ├── cmake
│   ├── CMakeLists.txt
│   ├── package.xml
│   └── README.md
├── convex_plane_decomposition
│   ├── CMakeLists.txt
│   ├── include
│   ├── package.xml
│   ├── src
│   └── test
├── convex_plane_decomposition_msgs
│   ├── CMakeLists.txt
│   ├── msg
│   └── package.xml
├── convex_plane_decomposition_ros
│   ├── CMakeLists.txt
│   ├── config
│   ├── data
│   ├── include
│   ├── launch
│   ├── package.xml
│   ├── rviz
│   ├── src
│   └── test
├── elevation_mapping-master
│   └── elevation_mapping-master
├── grid_map_filters_rsl
│   ├── CMakeLists.txt
│   ├── include
│   ├── package.xml
│   ├── src
│   └── test
├── grid_map-master
│   └── grid_map-master
├── hpp-fcl
│   ├── cmake
│   ├── CMakeLists.txt
│   ├── cmake-modules
│   ├── doc
│   ├── include
│   ├── INSTALL
│   ├── LICENSE
│   ├── NEWS
│   ├── package.xml
│   ├── python
│   ├── README.md
│   ├── src
│   ├── test
│   ├── third-parties
│   └── travis_custom
├── kindr-master
│   └── kindr-master
├── kindr_ros
│   ├── kindr_msgs
│   ├── kindr_ros
│   ├── kindr_rviz_plugins
│   ├── LICENSE
│   ├── multi_dof_joint_trajectory_rviz_plugins
│   └── README.md
├── legged_control-master
│   ├── docs
│   ├── legged_common
│   ├── legged_control
│   ├── legged_controllers
│   ├── legged_estimation
│   ├── legged_examples
│   ├── legged_gazebo
│   ├── legged_hw
│   ├── legged_interface
│   ├── legged_wbc
│   ├── LICENSE
│   ├── qpoases_catkin
│   └── README.md
├── legged_perceptive-master
│   └── legged_perceptive-master
├── message_logger
│   ├── CHANGELOG.rst
│   ├── cmake
│   ├── CMakeLists.txt
│   ├── include
│   ├── launch
│   ├── LICENSE
│   ├── package.xml
│   ├── README.md
│   ├── src
│   └── test
├── ocs2-main
│   └── ocs2-main
├── ocs2_robotic_assets
│   ├── CMakeLists.txt
│   ├── docs
│   ├── include
│   ├── LICENSE
│   ├── package.xml
│   ├── README.md
│   └── resources
├── pinocchio
│   ├── benchmark
│   ├── bindings
│   ├── cmake
│   ├── CMakeLists.txt
│   ├── COPYING.LESSER
│   ├── doc
│   ├── examples
│   ├── models
│   ├── package.xml
│   ├── README.md
│   ├── src
│   ├── travis_custom
│   ├── unittest
│   └── utils
├── realsense2_description
│   ├── CHANGELOG.rst
│   ├── CMakeLists.txt
│   ├── launch
│   ├── meshes
│   ├── package.xml
│   ├── rviz
│   └── urdf
└── realsense_gazebo_plugin
└── realsense_gazebo_plugin-melodic-devel