Replanning trigger for the navigation stack.

robotology / walking-controllers

Bipedal locomotion software for the humanoid robot platform iCub.

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

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Replanning trigger for the navigation stack. #144

Open SimoneMic opened 1 year ago

SimoneMic commented 1 year ago

On this PR a parallel thread monitors the status of the feet of the robot. Once each double support we will stream a boolean value on a port that will be red by the navigation stack. This value is the command to replan the navigation path.

Part of the changes required for the integration with the navigation stack #142 and its PR #143

SimoneMic commented 1 year ago

I have removed more code possible from the Module and moved it to NavigationHelper. Also now there are separate config files and all the navigation params are there.