Added a service to set the stairs algorithm parameters.
Added a service to get the stairs algorithm parameters.
Added an action to climb stairs.

Removed tone of the camera transforms because the cameara frame has been updated and it already takes into account the necessary rotations.
Minor changes in the Eigen variable declaration due to some assertions.

Merge branch 'smart_charger' of https://gitlab.iri.upc.edu/humanoides/humanoid_common into smart_charger

-Added Transform_listener
-Added qr_global_loc node to place the station and the robot in the same TF tree

Added information on the parent link to the map information to properly reconstruct the map.
Transfromed the tag position into the mab base link before using it.

Added state to tracking module to orient the robot in the desired position regarding the charge station

Completed the main state machine with joint_cartesian and gripper modules to move arm and open or close grippers.
For the moment a hard-coded point for joint cartesian module is given.
Added a search for small qr.

Merge branch 'smart_charger' of https://gitlab.iri.upc.edu/humanoides/humanoid_common into smart_charger

Also created simulation launch for smart charger client

added tracking and action module for tracking and sitting states
in process of adding joints cart module

Solved a bug in the add_servo() function when checking the already assigned servos.

See merge request !2

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