共享文件
- /hexapod/control_frequency: 200
- /hexapod/controller_type: pc
- /hexapod/elspider3_ethercat_ifname: enp86s0
- /hexapod/elspider3_ethercat_loop_frequency: 1000
- /hexapod/elspider3_loop_frequency: 500
- /hexapod/elspider_air_loop_frequency: 500
- /hexapod/elspider_mini_loop_frequency: 400
- /hexapod/enable_debug: False
- /hexapod/enable_rosconsole: True
- /hexapod/foot_lift_height: 0.05
- /hexapod/foot_trajectory_type: cycloid
- /hexapod/gait_type: quick_tripod1
- /hexapod/gazebo_loop_frequency: 500
- /hexapod/heel_motor_init_torque: -2.0
- /hexapod/heel_motor_kd: 2
- /hexapod/heel_motor_kp: 0.075
- /hexapod/hip_motor_init_torque: 2.0
- /hexapod/hip_motor_kd: 2
- /hexapod/hip_motor_kp: 0.2
- /hexapod/interface_type: hardware
- /hexapod/joy_coe_w: 0.4
- /hexapod/joy_coe_x: 0.25
- /hexapod/joy_coe_y: 0.2
- /hexapod/knee_motor_init_torque: -2.0
- /hexapod/knee_motor_kd: 2
- /hexapod/knee_motor_kp: 0.2
- /hexapod/motor_init_frequency: 1
- /hexapod/mujoco_loop_frequency: 1000
- /hexapod/print_task_status: True
- /hexapod/robot_name: elspider_air
- /hexapod/sitdown_footstep_location_x: 0
- /hexapod/sitdown_footstep_location_y: 0.2
- /hexapod/sitdown_footstep_location_z: -0.11
- /hexapod/standup_footstep_location_x: 0
- /hexapod/standup_footstep_location_y: 0.28
- /hexapod/standup_footstep_location_z: -0.16
- /hexapod/state_publish_frequency: 500
- /hexapod/unitree_a1_loop_frequency: 500
- /hexapod/unitree_a1_power_level: 1
- /hexapod/use_state_estimator: True
- /hexapod/use_vrpn: False
- /rosdistro: noetic
- /rosversion: 1.16.0
- /vrpn_client_node/broadcast_tf: True
- /vrpn_client_node/frame_id: robot
- /vrpn_client_node/port: 3883
- /vrpn_client_node/refresh_tracker_frequency: 1.0
- /vrpn_client_node/server: 192.168.1.110
- /vrpn_client_node/update_frequency: 500.0
- /vrpn_client_node/use_server_time: False
NODES / joystick_sim (interface/joystick_sim) main_ctrl (user/main_ctrl) vrpn_client_node (vrpn_client_ros/vrpn_client_node)
ROS_MASTER_URI=http://localhost:11311
process[main_ctrl-1]: started with pid [18364] process[vrpn_client_node-2]: started with pid [18365] process[joystick_sim-3]: started with pid [18366] [ INFO] [1747455075.735538434]: Connecting to VRPN server at 192.168.1.110:3883 [ INFO] [1747455075.931194126]: [hexapod software version]: 00.01.00.00 [ INFO] [1747455075.932611696]: [robot_name]: elspider_air [ INFO] [1747455075.933396291]: [interface_type]: hardware_interface [ INFO] [1747455075.946354032]: [controller_type]: position_controller [ INFO] [1747455075.949029427]: [foot_trajectory_type]: cycloid [PeriodicTask] Start InterfaceThread (0 s, 2000000 ns) [PeriodicTask] Start ControllerThread1 (0 s, 4999999 ns) [ INFO] [1747455075.963736917]: wait hardware to be ready [ INFO] [1747455076.740283171]: Connection established