Add adherent exogenous input to the yarp robot logger for ergoCubGaze…

…boV1
paolo-viceconte · Oct 18, 2023 · b960f86 · b960f86
1 parent 972b794
commit b960f86
Showing 1 changed file with 10 additions and 1 deletion.
diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1/yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1/yarp-robot-logger.xml
@@ -16,7 +16,7 @@ BSD-3-Clause license. -->
   </group>
 
   <group name="ExogenousSignals">
-    <param name="vectors_collection_exogenous_inputs">()</param>
+    <param name="vectors_collection_exogenous_inputs">("Adherent")</param>
     <param name="vectors_exogenous_inputs">()</param>
 
     <!--group name="Balancing">
@@ -33,6 +33,15 @@ BSD-3-Clause license. -->
       <param name="carrier">"udp"</param>
     </group>-->
 
+
+    <group name="Adherent">
+      <param name="local">"/yarp-robot-logger/exogenous_signals/adherent:i"</param>
+      <param name="remote">"/adherent/logger/data:o"</param>
+      <param name="signal_name">"adherent"</param>
+      <param name="carrier">"udp"</param>
+    </group>
+
+
     <!--<group name="RobotDynamicsEstimator">
       <param name="local">"/yarp-robot-logger/exogenous_signals/rde:i"</param>
       <param name="remote">"/robot-dynamics-estimator/data:o"</param>