question

[tangwuliuliu]

I want to know which parts of the code I should modify to adapt the controller to my own model if I import my own robot urdf ？

[kingnight797]

hector_control

[junhengl]

You can first update robot model in hector_description/xacro. To make the controllers compatible with the new model, you will also need to modify the files in hector_control with new parameters from your robot.

[tangwuliuliu]

hector_control

Sorry to bother you again, I would like to ask how you do the slope test. When I use this method to do the slope test, the performance is always OK at the beginning, but it shakes violently as I continue to go up