Issue with Physical Robot Response to IMU Data in CHAMP

[jstut0011]

Hi,

I'm having trouble getting the physical robot to respond to IMU data. I'm using the CHAMP project. The data is being sent, and the visualization in RViz works – the XYZ widget moves.

According to point 4 in the documentation, I should send data to the /imu/data topic:
https://github.com/chvmp/champ/wiki/Hardware-Integration

Can anyone help me figure out what I'm missing to make the physical robot respond to IMU movements?

Thanks!

[Quothd]

If I recall correctly from another issue - nothing is done with the IMU data.
You need to add the code interpreting the IMU data and using it to update the tilt / roll etc high level commands before they are sent to the IK. (you also need to set limits and averages otherwise it will constantly be overcompensating / adjusting stance based on the IMU data.