Merge branch 'main' into test-step-subscription-in-motion

Author: ayin21

bitbots_motion/bitbots_dynamic_kick/src/stabilizer.cpp

@@ -21,8 +21,8 @@ Stabilizer::Stabilizer(std::string ns) {
   roll_node_->declare_parameter<double>("i_clamp_min", 0.0);
   roll_node_->declare_parameter<bool>("antiwindup", false);
 
-  pid_trunk_fused_pitch_ = std::make_shared<control_toolbox::PidROS>(pitch_node_, "");
-  pid_trunk_fused_roll_ = std::make_shared<control_toolbox::PidROS>(roll_node_, "");
+  pid_trunk_fused_pitch_ = std::make_shared<control_toolbox::PidROS>(pitch_node_, "", "", false);
+  pid_trunk_fused_roll_ = std::make_shared<control_toolbox::PidROS>(roll_node_, "", "", false);
   pid_trunk_fused_pitch_->initialize_from_ros_parameters();
   pid_trunk_fused_roll_->initialize_from_ros_parameters();
 

bitbots_motion/bitbots_dynup/src/dynup_stabilizer.cpp

@@ -4,8 +4,8 @@ namespace bitbots_dynup {
 
 Stabilizer::Stabilizer(rclcpp::Node::SharedPtr node, bitbots_dynup::Params::Stabilizer params)
     : params_(params),
-      pid_trunk_pitch_(node, "stabilizer.trunk_pid.pitch"),
-      pid_trunk_roll_(node, "stabilizer.trunk_pid.roll") {
+      pid_trunk_pitch_(node, "stabilizer.trunk_pid.pitch", "", false),
+      pid_trunk_roll_(node, "stabilizer.trunk_pid.roll", "", false) {
   pid_trunk_pitch_.initialize_from_ros_parameters();
   pid_trunk_roll_.initialize_from_ros_parameters();
 

bitbots_motion/bitbots_quintic_walk/src/walk_stabilizer.cpp

@@ -3,7 +3,8 @@
 namespace bitbots_quintic_walk {
 
 WalkStabilizer::WalkStabilizer(rclcpp::Node::SharedPtr node)
-    : pid_trunk_fused_pitch_(node, "node.trunk_pid.pitch"), pid_trunk_fused_roll_(node, "node.trunk_pid.roll") {
+    : pid_trunk_fused_pitch_(node, "node.trunk_pid.pitch", "", false),
+      pid_trunk_fused_roll_(node, "node.trunk_pid.roll", "", false) {
   pid_trunk_fused_pitch_.initialize_from_ros_parameters();
   pid_trunk_fused_roll_.initialize_from_ros_parameters();