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I have confirmed that this pull requset will also resolve issues related to odometry.
Excellent work, @CullenSUN!
mangdangroboticsclub/mini_pupper_ros#65
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Champ_gazebo package has contact_sensor to publish feet contacts with ground in simulation.
The issue was champ_gazebo/launch/gazebo.launch.py used a hard coded links map file.
This fix is to use a launch argument so that we can pass in from outside launch files.
After fix:
mini_pupper_navi_ok.mp4