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Use foot sensor to detect steps / rework pressure converter.

Open val-ba opened this issue 2 years ago • 2 comments

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

  • [x] Run colcon build
  • [ ] Write documentation
  • [ ] Create issues for future work
  • [x] Test on your machine
  • [ ] Test on the robot
  • [x] This PR is on our Software project board

val-ba avatar Feb 02 '24 14:02 val-ba

It seems like, we have not the latest changes from yesterday in here, right @Flova ?

jaagut avatar Jun 05 '24 10:06 jaagut

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 avatar Jun 05 '24 10:06 Flova