🤖 [iCubGenova09] Update the configuration file to use the feet imu while walking

Author: GiulioRomualdi

src/WalkingModule/app/robots/iCubGenova09/dcm_walking/common/sensorBridge.ini

@@ -0,0 +1,20 @@
+[LEFT_FOOT]
+description     left_foot
+remote_port_name    /icub/left_foot/imu
+local_prefix        walking-coordinator
+local_port_name_postfix  /left_foot/imu
+controlled_frame_name   l_sole
+imu_names               (l_foot_front_ft_eul, l_foot_rear_ft_eul)
+frame_names             (l_foot_front_ft_sensor, l_foot_rear_ft_sensor)
+
+[RIGHT_FOOT]
+description     right_foot
+remote_port_name    /icub/right_foot/imu
+local_prefix        walking-coordinator
+local_port_name_postfix  /right_foot/imu
+controlled_frame_name   r_sole
+imu_names               (r_foot_front_ft_eul, r_foot_rear_ft_eul)
+frame_names             (r_foot_front_ft_sensor, r_foot_rear_ft_sensor)
+
+[MULTIPLE_ANALOG_SENSORS_REMAPPER]
+orientation_sensors_names (l_foot_front_ft_eul, l_foot_rear_ft_eul, r_foot_front_ft_eul, r_foot_rear_ft_eul)

src/WalkingModule/app/robots/iCubGenova09/dcm_walking_iFeel_joint_retargeting.ini

@@ -56,6 +56,8 @@ use_com_retargeting     0
 # Specify the frame to use to control the robot height. Currently, we support only the following options: com, root_link
 height_reference_frame  root_link
 
+
+
 # include robot control parameters
 [include ROBOT_CONTROL "./dcm_walking/iFeel_joint_retargeting/robotControl.ini"]
 
@@ -97,3 +99,6 @@ height_reference_frame  root_link
 
 # retargeting
 [include RETARGETING "./dcm_walking/iFeel_joint_retargeting/jointRetargeting.ini"]
+
+# include sensor bridge parameters
+[include SENSOR_BRIDGE "./dcm_walking/common/sensorBridge.ini"]

src/WalkingModule/app/robots/iCubGenova09/dcm_walking_with_joypad.ini

@@ -51,6 +51,9 @@ sampling_time           0.01
 # Specify the frame to use to control the robot height. Currently, we support only the following options: com, root_link
 height_reference_frame  root_link
 
+use_left_foot_imu       true
+use_right_foot_imu       true
+
 # include robot control parameters
 [include ROBOT_CONTROL "./dcm_walking/joypad_control/robotControl.ini"]
 
@@ -89,3 +92,6 @@ height_reference_frame  root_link
 
 # include lower PID parameters
 [include PID "./dcm_walking/common/pidParams.ini"]
+
+# include sensor bridge parameters
+[include SENSOR_BRIDGE "./dcm_walking/common/sensorBridge.ini"]