Merge branch 'cleanup_motion' of github.com:bit-bots/bitbots_motion i…

…nto cleanup_motion
bit-bots · Nov 2, 2023 · b697398 · b697398
2 parents d4ed38b + 30569be
commit b697398
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Showing 6 changed files with 4 additions and 8 deletions.
diff --git a/bitbots_dynup/src/dynup_engine.cpp b/bitbots_dynup/src/dynup_engine.cpp
@@ -678,7 +678,7 @@ void DynupEngine::setGoals(const DynupRequest &goals) {
   // we re-request the values every time because they can be changed by dynamic reconfigure
   // and re-requesting them is fast enough
   std::vector<rclcpp::Parameter> walking_params;
-  // Gat params and wait for walking to be ready
+  // Get params and wait for walking to be ready
   walking_params = walking_param_client_->get_parameters({"engine.trunk_pitch",
                                                           "engine.trunk_height",
                                                           "engine.foot_distance",

diff --git a/bitbots_hcm/bitbots_hcm/hcm_dsd/actions/wait.py b/bitbots_hcm/bitbots_hcm/hcm_dsd/actions/wait.py
@@ -12,7 +12,7 @@
 
 class Wait(AbstractHCMActionElement):
     """
-    This action does nothing. If a time is given, it will wait for that time.before it pops itself.
+    This action does nothing. If a time is given, it will wait for that time before it pops itself.
     """
 
     def __init__(self, blackboard, dsd, parameters=None):

diff --git a/bitbots_hcm/config/hcm_wolfgang.yaml b/bitbots_hcm/config/hcm_wolfgang.yaml
@@ -19,11 +19,10 @@
       falling_right: "falling_right"
       turning_back_left: "turning_back_left"
       turning_back_right: "turning_back_right"
-      anim_package: "wolfgang_animations"
 
     # Falling
     stand_up_active: true # Enables the robot to stand up automatically
-    falling_active: true # Enables the check for falling and coresponding counter meassurements
+    falling_active: true # Enables the check for falling and corresponding counter measurements
     # Threshold tighter --> earlier reaction but more false positives, e.g. while walking
     # Threshold softer --> too late reaction
     falling_thresh_gyro_pitch: 7.0 # > gyroY

diff --git a/bitbots_hcm/docs/index.rst b/bitbots_hcm/docs/index.rst
@@ -73,7 +73,7 @@ What to do when it does not work
 --------------------------------
 
 1. Is `ros_control` running? Do you recieve joint states (`/joint_states`) or IMU data (`/imu/data_raw`)?
-2. What is the state of the HCM (`rostopic echo /robot_state`)? The number has to be matched with the message
+2. What is the state of the HCM (`ros2 topic echo /robot_state`)? The number has to be matched with the message
    description (`ros2 interface show bitbots_msgs/msg/RobotControlState`).
 3. The visualization of the DSD is possible with the standard DSD visualization using the rqt plugin.
    There you can see exactly which decision is responsible for the current behavior and then you can look into the code.

diff --git a/bitbots_hcm/package.xml b/bitbots_hcm/package.xml
@@ -25,7 +25,6 @@
   <depend>geometry_msgs</depend>
   <depend>pybind11-dev</depend>
   <depend>python3-numpy</depend>
-  <depend>python3-sklearn</depend>
   <depend>python3-transforms3d</depend>
   <depend>rclpy</depend>
   <depend>ros2_numpy</depend>

diff --git a/bitbots_head_mover/CMakeLists.txt b/bitbots_head_mover/CMakeLists.txt
@@ -57,8 +57,6 @@ std_msgs
 tf2_geometry_msgs
 tf2_kdl
 tf2_ros
-
-
 )
 
 install(TARGETS
-Original file line number
+Diff line change
@@ Expand Up / @@ -57,8 +57,6 @@ std_msgs @@
     tf2_geometry_msgs
     tf2_kdl
     tf2_ros
     )
     install(TARGETS
@@ Expand Down @@