MPC controller can't stand

[skywoodsz]

Hi, I ues the demo launch file located in the path "cheetah_mpc_controller/launch". But I find the mpc controller can't control the dog to stand. And when I start the mpc controller, my gazebo real time factor decreases from 1.0 to 0.20.

My system is ubuntu 20.04, i7-8700 cpu and GTX1050. I don't know how to fix this problem. Could you give me some advices? Thanks!

[qiayuanl]

I can't see the figures.
This repo is archived. For the latest work about legged robot control, please refer to the legged_control.