Dynamic Walking

It starts an action that allows the robot to walk dynamically. In this walking pattern, the SS time is 0.8 seconds and the DS time is 0.1 seconds.

First the DCM Controller needs to be started. Then to start the dynamic walking run:

rosrun pal_locomotion_dcm_planner start_walking_continious_dcm  -a False -t False -p Cubic -s Zero

The interface receives velocity commands through the topic /biped_walking_dcm_controller/cmd_vel and the action interpolates to generate the footsteps and the desired COM and swing trajectories.

One option is to use the RobotSteering GUI to send those commands.

roslaunch talos_pal_locomotion rqt_talos_steering.launch

CAUTION

This is not yet fully integrated with the robot and is currently only working in simulation.
This limitation will be addressed in a future release.