bit-bots / bitbots_main

This git contains all RoboCup code from the Hamburg Bit-Bots.

https://bit-bots.de

MIT License

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Rework node referencing and pid nodes in walking #503

Closed Flova closed 3 months ago

Flova commented 3 months ago

Summary

Pass reference of a node to the walking instead of inheriting from a node. This fixes memory management issues when passing a reference of the node to subcomponents. We also remove the two PID nodes, as they are not needed anymore.

Related issues

Closes #308

Checklist

[x] Run colcon build
[x] Write documentation
[x] Test on your machine
[ ] Test on the robot
[x] Create issues for future work
[x] Triage this PR and label it