can i use this controller on real robot ?

[elpimous]

Hello the team,
I made a homemade BLDC robot, and i'd like to test your controller.
Does it need foot sensors (i don't have ones)
Does it need a tracking odom (like t265) or can it use ekf odom ?
if yes, any examples ?
Thanks the team
Vincent ( https://github.com/elpimous/ylo-2 )

[elpimous]

1/ Can I ask for joints convention ? FL, HL, FR, HR, and HAA, HFE, KFE ?
under example_a1_real.cpp , can't find any read() or write() function !

2/ Any help of where i should read values, and where i should write position mode values ?

3/ position and velocity are in radians ? or turns/s ?

[elpimous]

Small up?