Commit f3058532 authored by Olivier Stasse's avatar Olivier Stasse

[appli_dcmZmpControl_file] Add foot tracing and publishing

parent a2cfa16c
......@@ -418,6 +418,9 @@ create_topic(robot.publisher, robot.rfTrajGen, 'x', robot = robot, data_type='ve
create_topic(robot.publisher, robot.ftc, 'left_foot_force_out', robot = robot, data_type='vector') # calibrated left wrench
create_topic(robot.publisher, robot.ftc, 'right_foot_force_out', robot = robot, data_type='vector') # calibrated right wrench
create_topic(robot.publisher, robot.dynamic, 'LF', robot = robot, data_type='matrixHomo') # left foot
create_topic(robot.publisher, robot.dynamic, 'RF', robot = robot, data_type='matrixHomo') # right foot
# --- TRACER
robot.tracer = TracerRealTime("com_tracer")
robot.tracer.setBufferSize(80*(2**20))
......@@ -443,5 +446,8 @@ addTrace(robot.tracer, robot.dcm_control, 'zmpRef') # reference ZMP
addTrace(robot.tracer, robot.ftc, 'left_foot_force_out') # calibrated left wrench
addTrace(robot.tracer, robot.ftc, 'right_foot_force_out') # calibrated right wrench
addTrace(robot.tracer, robot.dynamic, 'LF') # left foot
addTrace(robot.tracer, robot.dynamic, 'RF') # right foot
robot.tracer.start()
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