Modify walking command to be a higher level direction
In principle: use topic walking/command to be a geometry_msgs/Vector3
:
-
movement.x // direction - in radians - zero straight ahead, positive clockwise direction
-
movement.y // urgency - scale the default speed, strictly non-negative
-
movement.z // walk - 0 for stop, 1 for continue / start moving
-
for walk on the spot send ( anything, 0, !0)
-
for stationary send (anything, anything, 0)
Modify subscription callback to convert from high level walking command to lower level gain parameters for ik_walk. Callback calls a lambda function which calls calculate_params
which converts high level (direction, urgency, walk)
to (stepGain, lateralGain, turnGain, enabledGain)
. These values update params_
, which are then used in the loop.
Edited by Karen Archer