Merge pull request #471 from isorrentino/addIMUOrientationLogging

Add logging of IMU orientation for iCub3
ami-iit · Nov 30, 2021 · fec1076 · fec1076
2 parents 1d1188e + 0577d16
commit fec1076
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -3,6 +3,8 @@ All notable changes to this project are documented in this file.
 
 ## [Unreleased]
 ### Added
+- Add the reading of the orientation of the head IMU in `YarpRobotLoggerDevice` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/471)
+
 ### Changed
 ### Fix
 

diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/mas-remapper.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/mas-remapper.xml
@@ -14,6 +14,9 @@ GNU Lesser General Public License v2.1 or any later version. -->
  <param name="ThreeAxisMagnetometersNames">
  (rfeimu_mag)
  </param>
+ <param name="OrientationSensorsNames">
+ (rfeimu_eul)
+ </param>
 
  <action phase="startup" level="5" type="attach">
  <paramlist name="networks">

diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/yarp-robot-logger.xml
@@ -35,6 +35,7 @@ GNU Lesser General Public License v2.1 or any later version. -->
  <param name="accelerometers_list">("rfeimu_acc")</param>
  <param name="gyroscopes_list">("rfeimu_gyro")</param>
  <param name="magnetometers_list">("rfeimu_mag")</param>
+ <param name="orientation_sensors_list">("rfeimu_eul")</param>
  </group>
 
  </group>