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Enabled the possibility of using the contact status

Guilhem Saurel requested to merge github/fork/cmastalli/topic/contact-state into master

Created by: cmastalli

We need to detect whether a contact is active or not to display CoP, contact force, support polygon, and friction cone. The current solution is to check whether the norm is not zero; however, this solution might lead to issue in many of our robots as contact forces might be noise or estimated.

Now, with this PR, I enable the possibility of using the contact_state field of the whole-body state message. However, it is still possible to use previous method by configuring Use Contact Status to false.

Note that this PR is still not based on the new version of the whole-body state message introduced in https://github.com/loco-3d/whole_body_state_msgs/pull/7. Later, I will create another PR.

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