While insisting that the Republic of Ireland want to win every match, Hallgrimsson admitted he “wouldn’t mind losing both these games” if it meant beating Hungary and Armenia in their opening two qualifiers in September.
“We have a good squad now and we are going to go for it, for sure,” added the 57-year-old, who has overseen four wins and four defeat since taking charge last year.
“This preparation is mixed with what is going to happen in September.
“We began the camp by talking about what is coming up, why it is important to play games like Senegal, taking what we can to transfer into the September games against Hungary and Armenia.”
Hallgrimsson said he wanted to stage a training camp in May to “see new faces and rock the boat”, but it did not materialise.
“We’ve been more or less picking a similar squad so when we lost out on the May camp we still opened spots for new players to come in,” he said.
AZ Alkmaar striker Troy Parrott is the only doubt for Friday’s game because of sickness.
However, Hallgrimsson has Evan Ferguson and Adam Idah as attacking options, while uncapped quartet John Patrick Finn, Josh Keeley, Killian Phillips and Josh Honohan are fresh options for the coach.
“The purpose of having a look at them is to see if they are ready to play,” said Hallgrimsson.
“Whether it will be tomorrow or against Luxembourg or not at all, we will wait and see.
“We have been happy with the players coming in, how they have coped with the environment and getting on board the messages and wanting to learn. That is the most important thing.”
While Senegal boss Pape Thiaw is without former Liverpool forward Sadio Mane for Friday’s game, his squad includes Everton midfielder Idrissa Gana Gueye, Chelsea striker Nicolas Jackson and Crystal Palace frontman Ismaila Sarr.
