Feature/new launch action interface

leggedrobotics / free_gait

An Architecture for the Versatile Control of Legged Robots

BSD 3-Clause "New" or "Revised" License

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Closed FGiraldez closed 5 years ago

FGiraldez commented 5 years ago

Main changes:

Launch actions now publish their state (ActionState) through a fixed topic (name is a free_gait param). This provides feedback to the action loader.
C++ clients now also use the IDLE state. Any errors received in IDLE will just finish the action, without triggering an action error.
C++ servers can be blocked, not taking any more goals.
Launch actions now stop (e.g. nodes die) when finished.

remod commented 5 years ago

Do we need this for CES?

FGiraldez commented 5 years ago

@remod I would say yes, if you do not want LP always running in the background.

remod commented 5 years ago

Ok thanks, let's try this branch tomorrow @pfankhauser

FGiraldez commented 5 years ago

Tested and working during CES. Will merge.