Use foot sensor to detect steps / rework pressure converter. #337
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jaagut
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Feb 4, 2024
bitbots_motion/bitbots_odometry/config/odometry_config_template.yaml
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bitbots_motion/bitbots_odometry/src/walk_support_state_detector.cpp
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bitbots_motion/bitbots_odometry/src/walk_support_state_detector.cpp
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bitbots_motion/bitbots_odometry/include/bitbots_odometry/walk_support_state_detector.h
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bitbots_motion/bitbots_odometry/src/walk_support_state_detector.cpp
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…ms for left and right th
timonegk
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Mar 17, 2024
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…use_foot_pressure_step_detection
jaagut
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jaagut
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It seems like, we have not the latest changes from yesterday in here, right @Flova ? |
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The things from yesterday are a completely different change. Please rename undo the renaming ^^ This PR tried to use the foot sensors in general. It reworks the pressure converter and adds the footstep detector. For now detecting footsteps with the foot sensors does not seem possible, but I would maybe try to merge the pressure converter and keep this changes somewhere in case we get better foot pressure sensors and are able to utilize them. |
Flova
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Summary
We do not detect steps.
Proposed changes
We can use the foot pressure sensors to detect them. The odometry gets more accurate if we know that.
Related issues
Checklist
colcon buildSoftwareproject board