JunJieChenpete comments

Results 4 comments of


                                            JunJieChenpete

It seems that a cpp file to "SegmentedPlanesSignedDistanceField.h" is missing in ocs2_robotic_examples/ocs2_perceptive_anymal/segmented_planes_terrain_model/src

The Errors shows that the class `grid_map::SignedDistanceField` corresponding to `sdf_` does not have the `grid_map::SignedDistanceField::SignedDistanceField(const grid_map::GridMap&, const string&, double&, double&)` method. I guess that the `grid_map` library you are using...

rviz无法显示机器人模型

about the problem you mentioned that the legged robot do not move in rviz, you should change the "Fixed Frame" value to "odom", not the "base", for the reason that...

hard constriants violation

I met similar questions these days. I found that the hard constraint is not dealed with Relaxed Barrier Functions. Actually, they are directly transport into HPIPM, [https://github.com/leggedrobotics/ocs2/blob/main/ocs2_sqp/ocs2_sqp/src/SqpSolver.cpp#L367](url). The Relaxed Barrier...

v1.x 暂时使用方法，亲测有效

谢谢，2023.11.23亲测有效