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Hello!

I am also working with Unitree A1's slamtec package, and have been struggling to get there navigation stack to work with 2D Goal! Every time I send command via 2D Goal on rviz, the robot seems to be confused (often times failing to get to the destination I have asked for), and the times it works, the robot takes a quite a while to get to the goal (it spins left and right, readjusts itself way too much).

I am assuming that you have been having similar issues, and I am starting to question if the generated cmd_vel is designed for wheeled robots like turtlebot. I wanted to write my own cmd_vel publisher for quadruped, but I am not sure how to integrate it with the output of global/local planner.

I would really appreciate if I can hear back from you and your progress, as I think knowing someone who is working on A1 would be nice in the progress moving forward. I am part of Georgia Tech, and I am in the process of making a slambox with ouster lidar, vectornav imu, and Intel NUC so that I can correct for odometry drift.

Thank you, and please comment if you would like to get in touch off the discussion board.

Sincerely,

Hello!

I am also working with Unitree A1's slamtec package, and have been struggling to get there navigation stack to work with 2D Goal! Every time I send command via 2D Goal on rviz, the robot seems to be confused (often times failing to get to the destination I have asked for), and the times it works, the robot takes a quite a while to get to the goal (it spins left and right, readjusts itself way too much).

I am assuming that you have been having similar issues, and I am starting to question if the generated cmd_vel is designed for wheeled robots like turtlebot. I wanted to write my own cmd_vel publisher for quadruped, but I am not sure how to integrate it with the output of global/local planner.

I would really appreciate if I can hear back from you and your progress, as I think knowing someone who is working on A1 would be nice in the progress moving forward. I am part of Georgia Tech, and I am in the process of making a slambox with ouster lidar, vectornav imu, and Intel NUC so that I can correct for odometry drift.

Thank you, and please comment if you would like to get in touch off the discussion board.

Sincerely,