Jumping Action

It starts an action that allows the robot to jump.

Since to start the jumping action some gains need to be modified, the DCM controller needs to be launched as follows:

roslaunch kangaroo_pal_locomotion kangaroo_dcm_walking_controller.launch wbc_parameters:=jumping

All the gains and weights could be modified online, but this is to simplify usage for the end-user. The angular momentum weight is increased to avoid undesired rotations in the air.

Once the controller is active start the action as follows:

roslaunch pal_locomotion push_action.launch action:=pal_locomotion::JumpingAction

This starts a ROS action /biped_walking_dcm_controller/jump in which it could be chosen the desired height. To send a goal run:

rosrun actionlib axclient.py /biped_walking_dcm_controller/jump

To send a new goal wait until the goal has finished.

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.