Touchdown detection and Rough terrain mode

[23pierre10]

Hi all,
I have a question concerning rough terrain mode, I am trying to do touchdown detection using FSR and I am not sure about how I am supposed to link the information to the openSHC controller. I guess information should be published to the /tip_states topic.. Can it be only published in the "force" section of that message type ? or do I need to put extra information ?
So far I can get the walking plan to move up using a random force value on z. Is it important to play around with the step depth and the stiffness and damping parameters to do rough terrain locomotion ?
Thanks a lot !

[23pierre10]

When I publish tip force I get this error after a short time:

terminate called after throwing an instance of 'std::out_of_range'
what(): map::at
(the step plane position seems to be updated to the tip pose position however it doesn't look good at all)