From fadf90695c27bde5d9be08167308c065c7c27c5a Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Mon, 7 Oct 2024 19:24:10 +0200 Subject: [PATCH] Log the temperature --- src/WalkingModule/src/Module.cpp | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/src/WalkingModule/src/Module.cpp b/src/WalkingModule/src/Module.cpp index a726db36..b018af9a 100644 --- 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());