Hi there, thank you for this amazing work!
I was trying out this repository's code for estimating base linear velocity (which I need later as input to an RL policy) and I was pleased to find out that it already had the urdf and feet names to work with the Go1. Apart from changing the one line in leg_odometry_plugin.cpp, I did not modify any of the other code, and used it with the default simulation environment available from the unitree_ros repository (ROS1, I'm using Melodic on Docker). However, I found that the state estimator was quite unreliable. I plotted it against the base velocity against the (what I hope is) ground truth velocity provided by Gazebo and found that the estimated velocity would tend towards the opposite magnitude (-1 for a forward movement) and fluctuate a lot. You can see it in the screenshot below.
Similar behavior is observed for a constant velocity in any direction (-ve x, +ve and -ve y; I have not tested angular velocity or attitude yet). Could there be some mis-configuration on my part, or could the simulation be the reason for these results? Thank you for your help!
Hi there, thank you for this amazing work!
I was trying out this repository's code for estimating base linear velocity (which I need later as input to an RL policy) and I was pleased to find out that it already had the urdf and feet names to work with the Go1. Apart from changing the one line in
leg_odometry_plugin.cpp, I did not modify any of the other code, and used it with the default simulation environment available from theunitree_rosrepository (ROS1, I'm using Melodic on Docker). However, I found that the state estimator was quite unreliable. I plotted it against the base velocity against the (what I hope is) ground truth velocity provided by Gazebo and found that the estimated velocity would tend towards the opposite magnitude (-1 for a forward movement) and fluctuate a lot. You can see it in the screenshot below.Similar behavior is observed for a constant velocity in any direction (-ve x, +ve and -ve y; I have not tested angular velocity or attitude yet). Could there be some mis-configuration on my part, or could the simulation be the reason for these results? Thank you for your help!