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local changes found on centauro's pilot pc #2

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26 changes: 13 additions & 13 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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}
# )
7 changes: 5 additions & 2 deletions launch/centauro_base_estimation.launch
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Expand Up @@ -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>

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2 changes: 1 addition & 1 deletion src/base_estimation.cpp
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Expand Up @@ -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
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2 changes: 1 addition & 1 deletion src/base_estimation_node.cpp
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Expand Up @@ -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);
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