foot contact ros topic published values incorrect

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Issue #153 resolved
John Hsu created an issue

The contact forces published over

/atlas/debug/l_foot_contact
/atlas/debug/r_foot_contact

are indeed wrong in drcsim 2.2.0. To do this properly, we must switch to using WrenchStamped, and fix the callback loop when contact sensor gets an update.

Comments (3)

  1. John Hsu reporter

    Unfortunately, to properly publish the incoming data from contact sensor, simulation time must be added inside the outer for-loop. The requires changing published message from geometry_msgs/Wrench to geometry_msgs/WrenchStamped type..

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