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.

[jstut0011]

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.

Do you mean this thread?
#134

EDIT:
@Quothd I tried to do this using champ lightweight on the Teensy 4.0. The data from the IMU is displayed correctly on the imu/raw topic, but only imu works in the configuration: Link to configuration, where the IMU is simulated, and the servos and control are handled by the ROS simulation.

However, when I tried to use real servos, I received the following message on the Jetson:
[Errno 16] could not open port: [Errno 16] device or resource busy: '/dev/ttyACM0'
Even though the port was displayed, and I assigned the correct permissions, the issue still persisted.