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Vladimir

Foot Contact Sensors

MIT used encoders and current sensors in joint servos in order to determine presence of contact. There is information in [the acrticle](https://www.researchgate.net/publication/325466467_Contact_Model_Fusion_for_Event-Based_Locomotion_in_Unstructured_Terrains )

there is no image and pointcloud topic published ,after set param camera: True

I found the solution. In the file walking_simulation.py you need to comment these lines: ``` self.cpp_gait_ctrller.set_robot_mode(self.__convert_type(1)) for i in range(200): self.run() # TODO: THIS IS BLOCKING!! print(i) p.stepSimulation self.cpp_gait_ctrller.set_robot_mode(self.__convert_type(1)) ```...

catkin build err:PointVisual.cpp:9: /usr/include/OGRE/OgreVector3.h: In member function 'Ogre::Vector3 Ogre::Vector3::perpendicular() const': /usr/include/OGRE/OgreVector3.h:582:20: error: implicitly-declared 'constexpr Ogre::Vector3::Vector3(const Ogre::Vector3&)' is deprecated [-Werror=deprecated-copy]

Paste this line to CMakeList.txt in the node whole_body_state_rviz_plugin: `set(CMAKE_CXX_FLAGS "-std=c++14 -Wno-unused-parameter -Wno-deprecated-copy -Wno-unused-but-set-parameter" CACHE STRING "" FORCE)`