bostoncleek / quadruped_control Goto Github PK

Hello, why aren't we multiplying the Jacobian.t() with the first two terms to provide the torque?

Hello,
I was trying to run this code on my ROS noetic setup. The build was successful and the robot was able to spawn on the drake environment. However, while running the "rosservice call /stand_up" service, I keep running into this issue

After trying to find the cause of the issue, I found that the file "balance_controller.cpp" line 152 where the matrix multiplication of (A_dyn.t() * S_ * A_dyn + W_) is the source of the problem.

The matrix multiplication A_dyn.t() * S_ is causing SEGMENTATION FAULT.
I checked the dimensions of the matrices and they all seem correct. Removing the S_ matrix will run the code with no errors. But the robot becomes unstable. Could you please give a reason for this?