Sebastian Stelter

Dynup: First walkready pose is broken

1

When going into walkready after the power has been turned on, the IK solution for the walkready pose is bad, sometimes leading to the feet interlocking or joints colliding. This...

## Is your feature request related to a problem? Please describe. Currently the dynup uses strings and/or integers to determine the desired direction. This is not easily readable. ## Describe...

## Is your feature request related to a problem? Please describe. Currently, states are represented as integers or strings, this is not easily readable. This impacts `DynupEngineDebug.msg` and the `DynupEngine::publish_debug`...

## Expected behavior The visualizer ignores a spline that can not be displayed due to length. ## Current behavior The visualizer freezes and after some time crashes the node that...

## Is your feature request related to a problem? Please describe. Currently the base link position for the stabilizing is determined by using the tf buffer in `dynup_node.cpp:134`. This might...

## Describe the solution you'd like The visualization from Dynup should be moved to a visualizer class. Furthermore the `publishArrowMarker` class exists in both Dynup and Walking, which is an...