From ff4618e971ccd22c746ea4a2e85ae645a74ff5c3 Mon Sep 17 00:00:00 2001
From: Arturo Laurenzi <arturo.laurenzi@iit.it>
Date: Tue, 22 Jun 2021 16:55:59 +0200
Subject: [PATCH] local changes found on centauro's pilot pc

---
 CMakeLists.txt                         | 26 +++++++++++++-------------
 launch/centauro_base_estimation.launch |  7 +++++--
 src/base_estimation.cpp                |  2 +-
 src/base_estimation_node.cpp           |  2 +-
 4 files changed, 20 insertions(+), 17 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index edc7c81..52d1eac 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -79,16 +79,16 @@ install(
     DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
     )
 
-# compile cartesio rt
-add_subdirectory(cartesio)
-
-# install files
-install(
-    DIRECTORY config
-    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-    )
-
-install(
-    DIRECTORY launch
-    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-    )
+# # compile cartesio rt
+# add_subdirectory(cartesio)
+
+# # install files
+# install(
+#     DIRECTORY config
+#     DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+#     )
+
+# install(
+#     DIRECTORY launch
+#     DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+#     )
diff --git a/launch/centauro_base_estimation.launch b/launch/centauro_base_estimation.launch
index 2c3a62b..c6d1177 100644
--- a/launch/centauro_base_estimation.launch
+++ b/launch/centauro_base_estimation.launch
@@ -15,8 +15,11 @@
     <param name="rolling_contacts/contact_4" value="wheel_4"/>
     <param name="use_imu" value="true"/>
 
-    <remap from="/robot_description" to="/xbotcore/robot_description"/>
-    <remap from="/robot_description_semantic" to="/xbotcore/robot_description_semantic"/>
+    <param name="robot_description" 
+        textfile="$(find centauro_urdf)/urdf/centauro.urdf"/>
+    
+    <param name="robot_description_semantic"
+        textfile="$(find centauro_srdf)/srdf/centauro.srdf"/>
 
 </node>
 
diff --git a/src/base_estimation.cpp b/src/base_estimation.cpp
index de9519f..4452a93 100644
--- a/src/base_estimation.cpp
+++ b/src/base_estimation.cpp
@@ -87,7 +87,7 @@ ForceTorqueSensor::ConstPtr BaseEstimation::createVirtualFt(std::string link_nam
         _fest = std::make_shared<ForceEstimation>(
                     _model,
                     // 1./getPeriodSec(),  // if using residuals,
-                    ForceEstimation::DEFAULT_SVD_THRESHOLD);
+                    0.05);
     }
 
     // generate virtual ft
diff --git a/src/base_estimation_node.cpp b/src/base_estimation_node.cpp
index ad1a1cd..e8bdb65 100644
--- a/src/base_estimation_node.cpp
+++ b/src/base_estimation_node.cpp
@@ -62,7 +62,7 @@ BaseEstimationNode::BaseEstimationNode():
     _nhpr("~")
 {
     // get config options
-    auto cfg = XBot::ConfigOptionsFromParamServer();
+    auto cfg = XBot::ConfigOptionsFromParamServer(_nhpr);
 
     // get robot and model
     _robot = XBot::RobotInterface::getRobot(cfg);