[WIP][jsk_footstep_controller] add base-controller.l #758
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k-okada
requested changes
May 12, 2021
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マージしたら，https://github.com/jsk-ros-pkg/jsk-ros-pkg-unreleased/pull/127#issuecomment-850769976 も，これを使ええると良いですね． |
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start-jsk/rtmros_common#1101 が必要です。
/cmd_velを受け取って、その方向にAutoBalancerのgoVelocityサービスを呼ぶノードと(base-controller)、首を左右に振るノードです(head-controller)。
jsk-ros-pkgのclosedなリポジトリにこれの上位互換のようなソフトウェアがあったり、https://github.com/jsk-ros-pkg/jsk_control/blob/master/jsk_footstep_controller/euslisp/lookaround-ground.l などと重複している気がしますが、とりあえずPull Requestにします。