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Hardware Interface read() write() #134
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hey Vincent, the joint_states is mainly for autonomy (odometry calculation). You can use an IMU's reading to control the body pose here. Here's a pseudo code.
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Hey, Juan. Thanks for feedback
I'll test it, for sure 👍
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Hello @grassjelly .
in your Hardware Integration page, you mention : Publish all the actuators' current angle using sensor_msgs/JointState to 'joint_states' topic.
However, it is not used into your code.
1/ Do you have anywhere, a hardware interface with both read and write functions ?
2/ Could i read imu values, to stabilize robot walk (any idea where i could start ? My imu is working and correctly publishing.)
Take care of you, Juan.
Vincent
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