{"action":"created","issue":{"url":"https://api.github.com/repos/start-jsk/rtmros_choreonoid/issues/213","repository_url":"https://api.github.com/repos/start-jsk/rtmros_choreonoid","labels_url":"https://api.github.com/repos/start-jsk/rtmros_choreonoid/issues/213/labels{/name}","comments_url":"https://api.github.com/repos/start-jsk/rtmros_choreonoid/issues/213/comments","events_url":"https://api.github.com/repos/start-jsk/rtmros_choreonoid/issues/213/events","html_url":"https://github.com/start-jsk/rtmros_choreonoid/issues/213","id":185920515,"number":213,"title":"オドメトリをおかしくせずに2足から4足に移行する方法","user":{"login":"mttamtam","id":9166022,"avatar_url":"https://avatars.githubusercontent.com/u/9166022?v=3","gravatar_id":"","url":"https://api.github.com/users/mttamtam","html_url":"https://github.com/mttamtam","followers_url":"https://api.github.com/users/mttamtam/followers","following_url":"https://api.github.com/users/mttamtam/following{/other_user}","gists_url":"https://api.github.com/users/mttamtam/gists{/gist_id}","starred_url":"https://api.github.com/users/mttamtam/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mttamtam/subscriptions","organizations_url":"https://api.github.com/users/mttamtam/orgs","repos_url":"https://api.github.com/users/mttamtam/repos","events_url":"https://api.github.com/users/mttamtam/events{/privacy}","received_events_url":"https://api.github.com/users/mttamtam/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":31,"created_at":"2016-10-28T13:16:11Z","updated_at":"2016-11-25T09:35:36Z","closed_at":null,"body":"@orikuma さんのSLAMを継続的に2足歩行の状態と4足歩行の状態を行き来しながら使えるようにしたいです。\nいま、普通の2足の姿勢から4足の姿勢に移行するときに、hrpsys_ros_bridge_jvrcのgait_controller.lを使っていて、\nhttps://github.com/start-jsk/rtmros_choreonoid/blob/master/hrpsys_ros_bridge_jvrc/euslisp/gait_controller.l#L363-L400\n腰を下ろした姿勢の状態で、一度stとautobalancerを切ってから四足の姿勢になり、そこでstとautobalancerをもう一度入れる、というふうになっていますが、こうすると途中でオドメトリが狂う？（少なくとも、octomapは乱れる)みたいで、オートバランサを入れっぱなしで姿勢変化ができたらうれしいのですが、なかなかうまくいかないです。\nhttps://github.com/mttamtam/rtmros_choreonoid/blob/gctemp/hrpsys_ros_bridge_jvrc/euslisp/gait_controller.l#L363-L407\n例えば、こんな感じに書き換えるとシミュレータでは姿勢変化はうまく行くが、go-posしようとすると、手のcoordsがおかしくなります。\n\n@snozawa さん、先ほど口頭で教えていただいたのにまたわからなくなってしまったのですが、touch-down-poseの状態で、一度オートバランサを切る前に腰の座標をもらってから、それをどこに入れるんでしたっけ？\n"},"comment":{"url":"https://api.github.com/repos/start-jsk/rtmros_choreonoid/issues/comments/262916191","html_url":"https://github.com/start-jsk/rtmros_choreonoid/issues/213#issuecomment-262916191","issue_url":"https://api.github.com/repos/start-jsk/rtmros_choreonoid/issues/213","id":262916191,"user":{"login":"YoheiKakiuchi","id":2408164,"avatar_url":"https://avatars.githubusercontent.com/u/2408164?v=3","gravatar_id":"","url":"https://api.github.com/users/YoheiKakiuchi","html_url":"https://github.com/YoheiKakiuchi","followers_url":"https://api.github.com/users/YoheiKakiuchi/followers","following_url":"https://api.github.com/users/YoheiKakiuchi/following{/other_user}","gists_url":"https://api.github.com/users/YoheiKakiuchi/gists{/gist_id}","starred_url":"https://api.github.com/users/YoheiKakiuchi/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/YoheiKakiuchi/subscriptions","organizations_url":"https://api.github.com/users/YoheiKakiuchi/orgs","repos_url":"https://api.github.com/users/YoheiKakiuchi/repos","events_url":"https://api.github.com/users/YoheiKakiuchi/events{/privacy}","received_events_url":"https://api.github.com/users/YoheiKakiuchi/received_events","type":"User","site_admin":false},"created_at":"2016-11-25T09:35:36Z","updated_at":"2016-11-25T09:35:36Z","body":"ここのコード自体はそんなに問題だと思っていないのだけど、別件？で、\r\nとりあえずはodomの初期値は足元に出てほしい  (https://github.com/start-jsk/rtmros_common/issues/986)\r\nがあって、それの対応で初期位置を入れるスクリプトを短く書きたい（これ自体はできた）ためでした。\r\n\r\nodomの初期位置は理論上は足元(end-coordsと同じ高さ）である必要はないはずですが、\r\n事実上そうなっているとして書かれているコードを修正するのに少し時間がかかりそうと言うことです。"}}
{"actor":{"display_login":"YoheiKakiuchi"}}