Merge pull request #26 from a-ichikura/unitree

[jsk_unitree_startup] Fix body pose to enable up-and-down motion
knorth55 · May 23, 2022 · 66fd91e · 66fd91e
2 parents 41565ff + cbc460d
commit 66fd91e
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/jsk_unitree_robot/jsk_unitree_startup/scripts/unitree_service.py b/jsk_unitree_robot/jsk_unitree_startup/scripts/unitree_service.py
@@ -101,6 +101,7 @@ def body_pose(self, pose):
         q = pose.orientation
         msg = HighCmd()
         msg.mode = 1
+        msg.bodyHeight = pose.position.z
         msg.euler = tf.transformations.euler_from_quaternion([q.x, q.y, q.z, q.w])  # RPY
         self.highlevel_pub.publish(msg)
         return