Control the fingers and the walking through the OpenXR joystick #130
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Inherited from the branch refactoring_and_htc_rebased
…if the button associated to the motion is pressed
- The buttons mask does not require the mask in conf file to have the same dimension of the number of buttons. - The module can start even if the connection to the fingers fails. Also, there will not be continuous errors printed. - Removed the internal state machine - Added possibility to print buttons and axes - The number of buttons is retrieved only once
Added "swapped" maps to control the walking.
This is to make it easier to trigger commands that require combination of buttons
Removed the dependencies from the RobotStateProvider to allow starting even when not using iFeel
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Updated the license after #132 The PR is ready for review @GiulioRomualdi |
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Friendly ping @GiulioRomualdi |
Another friendly ping. This would allow moving forward in #133 |
GiulioRomualdi
approved these changes
Oct 16, 2023
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| yarp::os::Bottle remoteControlBoards; | ||
| remoteControlBoards.clear(); | ||
| yarp::os::Bottle& remoteControlBoardsList = remoteControlBoards.addList(); | ||
| for (auto& iCubPart : iCubParts) | ||
| remoteControlBoardsList.addString("/" + robot + "/" + iCubPart); | ||
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| options.put("remoteControlBoards", remoteControlBoards.get(0)); | ||
| options.put("localPortPrefix", "/" + name + "/remoteControlBoard"); | ||
| yarp::os::Property& remoteControlBoardsOpts = options.addGroup("REMOTE_CONTROLBOARD_OPTIONS"); |
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Not now but we may think of using blf in the future
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This is indeed a good point. TBH I copied some old existing code and I did not invest too much time on it. I have opened #134 as a reminder
Explicitly using parenthesis in for loops Co-authored-by: Giulio Romualdi <[email protected]>
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CI passed. Merging. Thanks @GiulioRomualdi |
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This PR takes some code of https://github.com/robotology/walking-teleoperation/tree/refactoring_and_htc
The focus is only to control the walking and the fingers. There is some code duplication with the
OculusModule, but the plan in the future will be to deprecate that module.