Kick support foot must be treated different from walk support foot

[timonegk]

Expected behavior

When kicking, the base footprint stays at the same position relative to the support foot.

Current behavior

During the kick, the base footprint only keeps the z position of the support foot, x and y are in the middle between the feet. This behavior is adequate for the walking, but not for the kick.

Possible Solution

There could be a separate subscriber for the kick setting an internal variable and as long as that variable is set, the base_footprint will be published at the same position relative to the support foot.

Steps to Reproduce

1. roslaunch bitbots_dynamic_kick viz.launch
2. rosrun bitbots_dynamic_kick dummy_client.launch
3. Observer the base_footprint in rviz.

Context (Environment)

• RViz
• Simulator
• Robot
• Local

This issue might lead to a lot of problems in the whole vision, localization and behavior pipeline while kicking since base_footprint is used everywhere.