Ghost debug & quadruped bug fixes

ori-drs / pronto

Pronto - Legged Robot State Estimator - libraries, ROS wrapper and messages

GNU Lesser General Public License v2.1

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Closed wxmerkt closed 3 years ago

wxmerkt commented 3 years ago

Changes from debugging the Vision60.

Notable:

Bugfix in leg odometry handler where utime_ wasn't set
Output when secondary topic of leg odometry module is not subscribed (helps in finding bugs)
FootSensor leg odometry (boolean) changed to avoid floating point comparison issues

mcamurri commented 3 years ago

[jenkins test this]