Log the temperature

robotology · Oct 7, 2024 · fadf906 · fadf906
1 parent 7ca4e40
commit fadf906
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/src/WalkingModule/src/Module.cpp b/src/WalkingModule/src/Module.cpp
@@ -417,6 +417,9 @@ bool WalkingModule::configure(yarp::os::ResourceFinder &rf)
         m_vectorsCollectionServer.populateMetadata("joints_state::velocities::measured", m_robotControlHelper->getAxesList());
         m_vectorsCollectionServer.populateMetadata("joints_state::velocities::retargeting", m_robotControlHelper->getAxesList());
 
+        // motor temperature
+        m_vectorsCollectionServer.populateMetadata("motors_state::temperature::measured", m_robotControlHelper->getAxesList());
+
         // root link information
         m_vectorsCollectionServer.populateMetadata("root_link::position::measured", {"x", "y", "z"});
         m_vectorsCollectionServer.populateMetadata("root_link::orientation::measured", {"roll", "pitch", "yaw"});
@@ -1093,6 +1096,9 @@ bool WalkingModule::updateModule()
             m_vectorsCollectionServer.populateData("joints_state::velocities::measured", m_robotControlHelper->getJointVelocity());
             m_vectorsCollectionServer.populateData("joints_state::velocities::retargeting", m_retargetingClient->jointVelocities());
 
+            // motor temperature
+            m_vectorsCollectionServer.populateData("motors_state::temperature::measured", m_motorTemperature);
+
             // root link information
             m_vectorsCollectionServer.populateData("root_link::position::measured", m_FKSolver->getRootLinkToWorldTransform().getPosition());
             m_vectorsCollectionServer.populateData("root_link::orientation::measured", m_FKSolver->getRootLinkToWorldTransform().getRotation().asRPY());