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ami-iit / yarp-openmct

Repo for YARP and OpenMCT integration.
BSD 3-Clause "New" or "Revised" License
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Integrate a control console in Open MCT visualizer for running the FT calibration and the walking coordinator #9

Closed nunoguedelha closed 3 years ago

nunoguedelha commented 3 years ago

The main goal of the control console we implement here is to interface with the wholeBodyDynamics FT sensors calibrator and the walking coordinator via the respective RPC ports /wholeBodyDynamics/rpc and /walking-coordinator/rpc, providing a GUI with buttons which implement the same commands usually sent through the RPC interace running on a terminal.

The commands are implemented with the most common options, but an additional custom button+form shall be added in a later PR for sending custom commands.

Walking Coordinator

Implemented commands with most common options:

prepareRobot
startWalking
setGoal x y
pauseWalking
stopWalking
help

Unlike the other commands which are composed of a single button, the command setGoal x y is composed of a button and an empty box form for entering the "x"" and "y" parameters.

WholeBodyDynamics FT Sensors Calibrator

Implemented commands with most common options:

calib
calibStanding
resetOffset
help
nunoguedelha commented 3 years ago

In the future it would be nice to separate generic yarp-openmct integration and application specific parts, but for now I guess it is ok.

Sorry, I'm not sure I got what you mean, but we can discuss on Teams.