update for sot-talos-balance v2

scripts/test_online_walking.py

@@ -4,7 +4,7 @@ import time
 
 import rospkg
 import rospy
-from sot_talos_balance.utils.run_test_utils import runCommandClient
+from dynamic_graph.sot_talos_balance.utils.run_test_utils import runCommandClient
 from std_srvs.srv import Empty
 
 

scripts/test_sot_talos_balance.py

@@ -4,7 +4,7 @@ import time
 from os.path import abspath, dirname, join
 
 import rospy
-from sot_talos_balance.utils.run_test_utils import runCommandClient
+from dynamic_graph.sot_talos_balance.utils.run_test_utils import runCommandClient
 from std_srvs.srv import Empty
 
 

src/talos_integration_tests/appli.py

-from dynamic_graph.sot.core.matrix_util import matrixToTuple
-from dynamic_graph.sot.core.meta_tasks_kine import (MetaTaskKine6d, MetaTaskKineCom)
-from numpy import eye
+from dynamic_graph.sot.core.meta_tasks_kine import MetaTaskKine6d, MetaTaskKineCom
+from numpy import array, eye
 
 
 def init_appli(robot):
     taskRH = MetaTaskKine6d('rh', robot.dynamic, 'rh', robot.OperationalPointsMap['right-wrist'])
     handMgrip = eye(4)
     handMgrip[0:3, 3] = (0.1, 0, 0)
-    taskRH.opmodif = matrixToTuple(handMgrip)
+    taskRH.opmodif = array(handMgrip)
     taskRH.feature.frame('desired')
     # --- STATIC COM (if not walking)
     taskCom = MetaTaskKineCom(robot.dynamic)
@@ -37,6 +36,7 @@ def init_appli(robot):
     from dynamic_graph.ros import RosPublish
     ros_publish_state = RosPublish("ros_publish_state")
     ros_publish_state.add("vector", "state", "/sot_control/state")
+    ros_publish_state.add_signals()
     from dynamic_graph import plug
     plug(robot.device.state, ros_publish_state.state)
     robot.device.after.addDownsampledSignal("ros_publish_state.trigger", 100)

src/talos_integration_tests/appli_dcmZmpControl_file.py

@@ -12,11 +12,11 @@ from dynamic_graph.sot.dynamic_pinocchio import DynamicPinocchio
 from dynamic_graph.tracer_real_time import TracerRealTime
 from rospkg import RosPack
 
-import sot_talos_balance.talos.base_estimator_conf as base_estimator_conf
-import sot_talos_balance.talos.control_manager_conf as cm_conf
-import sot_talos_balance.talos.ft_calibration_conf as ft_conf
-import sot_talos_balance.talos.parameter_server_conf as param_server_conf
-from sot_talos_balance.create_entities_utils import *
+import dynamic_graph.sot_talos_balance.talos.base_estimator_conf as base_estimator_conf
+import dynamic_graph.sot_talos_balance.talos.control_manager_conf as cm_conf
+import dynamic_graph.sot_talos_balance.talos.ft_calibration_conf as ft_conf
+import dynamic_graph.sot_talos_balance.talos.parameter_server_conf as param_server_conf
+from dynamic_graph.sot_talos_balance.create_entities_utils import *
 
 from dynamic_graph import plug
 

src/talos_integration_tests/appli_online_walking.py

@@ -13,11 +13,11 @@ from dynamic_graph.sot.dynamic_pinocchio import DynamicPinocchio
 from dynamic_graph.tracer_real_time import TracerRealTime
 from rospkg import RosPack
 
-import sot_talos_balance.talos.base_estimator_conf as base_estimator_conf
-import sot_talos_balance.talos.control_manager_conf as cm_conf
-import sot_talos_balance.talos.ft_calibration_conf as ft_conf
-import sot_talos_balance.talos.parameter_server_conf as param_server_conf
-from sot_talos_balance.create_entities_utils import *
+import dynamic_graph.sot_talos_balance.talos.base_estimator_conf as base_estimator_conf
+import dynamic_graph.sot_talos_balance.talos.control_manager_conf as cm_conf
+import dynamic_graph.sot_talos_balance.talos.ft_calibration_conf as ft_conf
+import dynamic_graph.sot_talos_balance.talos.parameter_server_conf as param_server_conf
+from dynamic_graph.sot_talos_balance.create_entities_utils import *
 
 from dynamic_graph.sot.pattern_generator import PatternGenerator