iCubGazeboV2_5 robot falling before completing walking trajectory #28
Description
I have been testing the walking controller along side floating base estimation device. The robot tends to fall every time I run the WalkingModule and the module exits unanimously.
The walking parameters are default as the ones available in the repository, except for the following changes,
use_mpcflag is commented inwalkingCoordinator.inidisabling the use of mpcsolveris set tomumpsininverseKinematics.ini
The steps followed to run the WalkingModule are as described in the README. I have been using setGoal 0.3 0.0 as input.
Background on floating base estimation device. This is a YARP device opening and attaching itself to the remote control boards of all parts of the iCubGazeboV2_5 robot. It also opens and attaches itself to the wholeBodyDynamics device. A transformServer is also opened in order to publish transforms to ROS \tf topic. The regular workflow involves also running a yarprobotstatepublisher along with rviz to visualize the estimation. All of this along with Gazebo is already a considerable load on the computer memory, causing things to slow down. In the involved components, rviz and Gazebo are quite heavy with respect to the PC's capability (8GB RAM 2.5GHz 4-core CPU)
I suspect the fact that both walking-controller and floating-base-estimation talks with whole-body-dynamics and this causes the walking-controller to not get the required Cartesian wrench feedback within the update period of the controller is causing the failure ? However, this is just my naive speculation.
I would ask about your opinion on why this failure could happen ? and precautions to avoid this failure.