Kyle Stachowicz comments

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                                            Kyle Stachowicz

Backport `spin_all` and use it for temporary executors.

The following code from `rclcpp` will be helpful: https://github.com/ros2/rclcpp/blob/aa159a5e8f6d3bf50c4c0c40dbfb656f7e8c6f97/rclcpp/src/rclcpp/executor.cpp#L406-L450

Fix curvature issues with Bezier path and re-enable curvature limiting

Fixed in comp 2021 (#1709)

[TODO] Make trapezoidal motion work correctly when initial velocity > maximum velocity

It doesn't _completely_ break right now, but the trapezoid calculations are definitely off. I have been noticing some occasional odd capture behavior, so I'll put this as a blocker for...

[TODO] Add configuration variables for trajectory checking utilities

Lines: https://github.com/RoboJackets/robocup-software/blob/b057bc439b4c3f76721999f7d6ddd5fc8a4f4699/soccer/src/soccer/planning/trajectory_utils.cpp#L26-L32 https://github.com/RoboJackets/robocup-software/blob/b057bc439b4c3f76721999f7d6ddd5fc8a4f4699/soccer/src/soccer/planning/trajectory_utils.cpp#L79-L85 Instead of it being a constexpr value, we want it to be declared using our parameters interface. An example of using the parameters interface: https://github.com/RoboJackets/robocup-software/blob/ros2/soccer/include/rj_vision_filter/params.hpp https://github.com/RoboJackets/robocup-software/blob/ros2/soccer/src/rj_vision_filter/params.cpp For...

Rework CMake configuration

I'll merge after comp

[TODO] Tuning Motion Command

The correct way to approach this is actually to bypass motion planning completely and just publish a trajectory, once everything is ported to ROS.

Refactor Motion and Angular Command classes to use boost::variant.

This will be fixed by #1429.

Expose Kick Detection to Soccer as a whole

@JNeiger, do you have thoughts or additional details on implementation for this?

Expose Kick Detection to Soccer as a whole

What does the scope of this look like? I was thinking about using it as a new member project.

Expose Kick Detection to Soccer as a whole

Thank you so much! I think the level of detail you have should be plenty for an intro issue.