Commit 4a3e7aa0 authored by Olivier Stasse's avatar Olivier Stasse
Browse files

[test_dcm_estimator.py] Publish a few more signals

parent a8a20a6f
......@@ -135,6 +135,10 @@ plug(robot.dvdt.sout,robot.dynamic.acceleration)
# --- ROS PUBLISHER
robot.publisher = create_rospublish(robot, 'robot_publisher')
create_topic(robot.publisher, robot.cdc_estimator, 'c', robot = robot, data_type='vector') # estimated CoM
create_topic(robot.publisher, robot.cdc_estimator, 'dc', robot = robot, data_type='vector') # estimated CoM velocity
create_topic(robot.publisher, robot.estimator, 'dcm', robot = robot, data_type='vector') # estimated DCM
create_topic(robot.publisher, robot.zmp_estimator, 'zmp', robot = robot, data_type='vector') # estimated ZMP
create_topic(robot.publisher, robot.zmp_estimator, 'emergencyStop', robot = robot, data_type='boolean') # ZMP emergency stop
create_topic(robot.publisher, robot.dynamic, 'com', robot = robot, data_type='vector') # SOT CoM
......
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