ForceShoesPlugin

This plugin integrates the force sensors of the Xsens force shoes into mc_rtc.

It depends on:

• mc_rtc
• The MT SDK

Installation

After installing the dependencies,

git clone git@github.com:Hugo-L3174/mc_force_shoe_plugin.git
mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
make -j8
sudo make install

Running instructions

Run using your mc_rtc interface of choice, add ForceShoesPlugin to the Plugins configuration entry or enable the autoload option. By default the set baudrate is 921k6 and the port is "/dev/ttyUSB0" since this is intended to be used on a linux machine but this can be changed in the ForceShoePlugin.in.yaml configuration file.