qiayuanl/legged_control

Foot trajectory problem

JaylenLiao opened this issue · 0 comments

JaylenLiao commented

我使用rosbag将/legged_robot/desiredFeetTrajectory/LF记录下来后，发现足端轨迹的z轴一直为0；同时，/legged_robot/optimizedStateTrajectory节点的数据呈现锯齿状。这是为什么呢？