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.
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:
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: