spot trembling gait about spot_ros HOT 5 CLOSED

What network devices do you have connected to the Jetson? We've noticed in the past that high-bandwidth devices, like a VLP-16, can effectively choke the network connection, causing high latency and this sort of interrupted velocity control.

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The Nano does not have other devices connected. We replaced the Nano with Jetson AGX and it goes much better, even though some times Spot still makes some weird steps.

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I think I had this issue too. One thing that helped me resolve this is by increasing the timeout of the velocity_cmd function in spot_wrapper from 0.125 to 0.5. That instantly fixed this. I do not know why this was happening

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Perhaps this is something to do with the rate of whatever you are using to publish messages to the cmd_vel topic. If the rate is slower than the velocity_cmd timeout you will probably observe jerkiness in the motion as the robot starts to move into the stable position and then starts moving agian.

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I think I had this issue too. One thing that helped me resolve this is by increasing the timeout of the velocity_cmd function in spot_wrapper from 0.125 to 0.5. That instantly fixed this. I do not know why this was happening

Thanks for the tip! This solved the issue, I actually noticed that in the wasd example of spot-sdk the timeout is set to 0.6, so this makes sense

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