Stephen McCrory

Adding collisions checks between start/end of swing

Adds step validity checks to ValkyrieJoystickBasedSteppingApplication: (parameters are found in StepGeneratorJavaFXController) - Max step up/down of 0.2m - Max step incline of 45 degrees - Collision check with same dimensions/logic...

ROS topics for output

5

There don't appear to be any ROS output topics for the estimated pose or map, at least for the default settings. It'd be helpful if those could be added in.