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ADVRHumanoids / XBotControl

XBotControl framework: XBotCore + OpenSoT + CartesI/O
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[CI] Update robot base pose based on data from simulation #50

Closed IoannisDadiotis closed 2 years ago

IoannisDadiotis commented 2 years ago

As discussed with @alaurenzi :

Convert /cartesian/base_pose_override topic into service that will update base pose based on data from simulation (e.g. imu measurement).

Currently, /cartesian/base_pose_override needs continuous publishing to do this job.

IoannisDadiotis commented 2 years ago

@alaurenzi I have updated the binaries.

I suppose the new service for updating the base pose is the /cartesian/reset_base, right?

When running this service I am getting the following error at the terminal of C.I.:

     ros_server_node: [ServiceClientLink::handleHeader]: client wants service /cartesian/reset_base to
                   ~   have md5sum 8e0218be006b90bf8bff823a746f742e, but it has 28e4dd667b29bd35b516ba
                   ~  1d379b7529. Dropping connection.
IoannisDadiotis commented 2 years ago

The above error was my mistake.

The provided service is /cartesian/reset_base with type SetTransform and it seems to work.