Dear author,
During my use of the pronto , I configed the Robot Description Package that is used in the pronto , and configured the yaml file in /pronto_ros2_node/config/xxx.yaml , including the ros2 topic of ins and legodo which are all ros2 standard message type . I successfully running the pronto , and can see the ros2 topic which pronto sending, for example , "pose_est" ,"twist_est", “stance” .etc . But the data of pose estimate which pronto publishing are not good , I have no idea about that causes, and guess the reasons as follows:
1、In the Gazebo simulation environment , the frenquecy of ros2 topic of the pronto publishing such as "/pose_est", "/twist_est" are only 100hz , and during the real Quadruped Robot , only 50hz , may be that is the biggest reasons.
2、I haven't seen the way of how to chose the parameter in the yaml file in the /pronto_ros2_node/config/xxx.yaml , such as
sigma0 :
vb : 0.01 # m/s #0.15
chi_xy : 0.1 # degrees?
chi_z : 0.1 # degrees?
Delta_xy : 0.01 #0.5 # m
Delta_z : 0.01 # 1 # m
gyro_bias : 0.001 # deg/s
accel_bias : 0.001 # m/s^2 # 0.1 worked during tuning
All in all , the pronto is successfully running , but the data of pronto performs not good in robot, i don't know what causes that , looking forward to your reply;
Dear author,
During my use of the pronto , I configed the Robot Description Package that is used in the pronto , and configured the yaml file in /pronto_ros2_node/config/xxx.yaml , including the ros2 topic of ins and legodo which are all ros2 standard message type . I successfully running the pronto , and can see the ros2 topic which pronto sending, for example , "pose_est" ,"twist_est", “stance” .etc . But the data of pose estimate which pronto publishing are not good , I have no idea about that causes, and guess the reasons as follows:
1、In the Gazebo simulation environment , the frenquecy of ros2 topic of the pronto publishing such as "/pose_est", "/twist_est" are only 100hz , and during the real Quadruped Robot , only 50hz , may be that is the biggest reasons.
2、I haven't seen the way of how to chose the parameter in the yaml file in the /pronto_ros2_node/config/xxx.yaml , such as
sigma0 :
vb : 0.01 # m/s #0.15
chi_xy : 0.1 # degrees?
chi_z : 0.1 # degrees?
Delta_xy : 0.01 #0.5 # m
Delta_z : 0.01 # 1 # m
gyro_bias : 0.001 # deg/s
accel_bias : 0.001 # m/s^2 # 0.1 worked during tuning
All in all , the pronto is successfully running , but the data of pronto performs not good in robot, i don't know what causes that , looking forward to your reply;