Merge pull request #1113 from ketaro-m/fix-eus-reference-force-vector

[hrpsys_ros_bridge/euslisp] Fix :reference-force/moment-vector

hrpsys_ros_bridge/euslisp/datalogger-log-parser.l

@@ -207,7 +207,9 @@
            (send (send self :parser-list (format nil "rmfo_off_~A" (send f :name))) :read-state))
      (send self :set-robot-state1
            (read-from-string (format nil ":reference-~A" (string-downcase (send f :name))))
-           (send (send self :parser-list (format nil "sh_~AOut" (send f :name))) :read-state))
+           (if (send self :parser-list (format nil "rfu_ref_~AOut" (send f :name)))
+               (send (send self :parser-list (format nil "rfu_ref_~AOut" (send f :name))) :read-state)
+             (send (send self :parser-list (format nil "sh_~AOut" (send f :name))) :read-state)))
      )
    ;; (dolist (i (send robot :imu-sensors))
    ;;   (send self :set-robot-state1

hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l

@@ -117,13 +117,13 @@
   (:reference-force-vector
    (&optional (limb))
    "Returns reference force-vector [N] list for all limbs obtained by :state.
-    This value corresponds to StateHolder and SequencePlayer RTC.
+    This value corresponds to ReferenceForceUpdater, EmergencyStopper, StateHolder and SequencePlayer RTC prioritized in this order.
     If a limb argument is specified, returns a vector for the limb."
    (send self :tmp-force-moment-vector :force limb "reference"))
   (:reference-moment-vector
    (&optional (limb))
    "Returns reference moment-vector [Nm] list for all limbs obtained by :state.
-    This value corresponds to StateHolder and SequencePlayer RTC.
+    This value corresponds to ReferenceForceUpdater, EmergencyStopper, StateHolder and SequencePlayer RTC prioritized in this order.
     If a limb argument is specified, returns a vector for the limb."
    (send self :tmp-force-moment-vector :moment limb "reference"))
   (:absolute-force-vector