Sergi Hernandez authored 8 years ago and Sergi Hernandez committed 8 years ago

Removed the servo assignment from the action and walk clients because it is already done by the corresponding modules.

Modified the add_servo() function to check whether the new servo has already been assigned or not.

See merge request !1

Sergi Hernandez authored 8 years ago and Sergi Hernandez committed 8 years ago

Modified the walk and action modules to assign the basic necessary at construction time.

cmd_vel_timer.stop() function was called before publishing cmd_vel with 0

Testes set_smart_charger_config and get_smart_charger_config services

Conflicts:
	humanoid_modules/CMakeLists.txt

Moved the set_walk_params service call outside the state machine. It is executed each time there is a change.
Added a ROS timer to publish the cmd_vel topic at the desired rate (different from the state machine rate).

Conflicts:
	humanoid_modules/CMakeLists.txt

Added a joint_states subscriber to compute the speed of the joints.

Chnaged the is_finished condition to take into account possible rate differences between the module and the calling application.

Modified the joints client to use the joints module instead of accessing the ROS interfaces directly

Used the start_operation() fucntion in the constructor in the joints_cart_module.
Added functions to change the remote node parameters.

Added configuration parameters.
Added necessary dependencies.

Modified the action client to use the action module instead of accessing the ROS interfaces directly.

Added a generic humanoid module to handle the servo assigment to motion modules.
Added a module to handle the motion action.

Only the action interface is working.
Added the new packages to the meta-package list.

  - parameter name of the environment parameter file.
  - update rate of the TF publish.
Added a subscriber of the initial pose to set it throw RVIZ.
The robot pose is now published in the mainNodeThread to publish it even though no QR is detected.
If multiple QR are detected, the average pose is computed.