At the moment, if the balance problem comes to be infeasible, the system is stopped by generating a segfault, so it is impossible to investigate the reason of the stop.
A bool signal should be exposed and connected to ctrl-manager.
As multiple entities could stop the control, we could OR the different emergencyStops to then provide the result to ctrl-manager, or we could add emergencyStop inputs on the go via a dedicated ctrl-manager command.
At the moment, if the balance problem comes to be infeasible, the system is stopped by generating a segfault, so it is impossible to investigate the reason of the stop.
A bool signal should be exposed and connected to ctrl-manager.
Ctrl-manager reads this bolean signal: "emergencyStop" https://github.com/stack-of-tasks/sot-torque-control/blob/master/include/sot/torque_control/control-manager.hh#L108
As multiple entities could stop the control, we could OR the different emergencyStops to then provide the result to ctrl-manager, or we could add emergencyStop inputs on the go via a dedicated ctrl-manager command.