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Build node for walk control and enable and disable gait
Create an interpolation method instead of scipy
The current trajectory planner needs to use the method interp1d from scipy library to create a linear interpolation when trying to reach the start pose and when doing the starting half step. This means that we have to install the scipy library every time we install the codebase in a new environment. We could assign an investigation to create a custom interpolation method. We could probably use the cubic polynomial trajectory planner that is already in the code.
Create symetric trajectories for start_pose and halfstep, as well as returning to straight pose
Warning [moveIt] is deprecated: The attempts argument is not supported anymore. [-Wdeprecated-declarations]
Warnings << inverse_kinematics:make /home/mike/Humanoids/catkin_ws/logs/inverse_kinematics/build.make.000.log
/home/mike/Humanoids/catkin_ws/src/control/inverse_kinematics/src/ik_moveit_node.cpp: In function ‘bool ik_leg_left(ctrl_msgs::CalculateIK::Request&, ctrl_msgs::CalculateIK::Response&)’:
/home/mike/Humanoids/catkin_ws/src/control/inverse_kinematics/src/ik_moveit_node.cpp:27:90: warning: ‘bool moveit::core::RobotState::setFromIK(const moveit::core::JointModelGroup*, const Isometry3d&, unsigned int, double, const GroupStateValidityCallbackFn&, const kinematics::KinematicsQueryOptions&)’ is deprecated: The attempts argument is not supported anymore. [-Wdeprecated-declarations]
27 | bool found_ik = kinematic_state->setFromIK(joint_group_leg_left, desired_pose, 5, 0.1);
| ^
In file included from /home/mike/Humanoids/catkin_ws/src/control/inverse_kinematics/src/ik_moveit_node.cpp:4:
/opt/ros/noetic/include/moveit/robot_state/robot_state.h:992:3: note: declared here
992 | setFromIK(const JointModelGroup* group, const Eigen::Isometry3d& pose, unsigned int /* attempts */,
| ^~~~~~~~~
/home/mike/Humanoids/catkin_ws/src/control/inverse_kinematics/src/ik_moveit_node.cpp: In function ‘bool ik_leg_right(ctrl_msgs::CalculateIK::Request&, ctrl_msgs::CalculateIK::Response&)’:
/home/mike/Humanoids/catkin_ws/src/control/inverse_kinematics/src/ik_moveit_node.cpp:57:91: warning: ‘bool moveit::core::RobotState::setFromIK(const moveit::core::JointModelGroup*, const Isometry3d&, unsigned int, double, const GroupStateValidityCallbackFn&, const kinematics::KinematicsQueryOptions&)’ is deprecated: The attempts argument is not supported anymore. [-Wdeprecated-declarations]
57 | bool found_ik = kinematic_state->setFromIK(joint_group_leg_right, desired_pose, 5, 0.1);
| ^
In file included from /home/mike/Humanoids/catkin_ws/src/control/inverse_kinematics/src/ik_moveit_node.cpp:4:
/opt/ros/noetic/include/moveit/robot_state/robot_state.h:992:3: note: declared here
992 | setFromIK(const JointModelGroup* group, const Eigen::Isometry3d& pose, unsigned int /* attempts */,
| ^~~~~~~~~
Fix warning in QtRosNode.cpp
Compilation on noetic branch deals pops-up a warning in function QtRosNode::callPolynomialTrajectory(std::vector<double>, std::vector<double>)
[ 73%] Building CXX object hri/humanoid_gui/CMakeFiles/humanoid_gui.dir/src/QtRosNode.cpp.o
/home/mike/Humanoids/catkin_ws/src/hri/humanoid_gui/src/QtRosNode.cpp: In member function ‘bool QtRosNode::callPolynomialTrajectory(std::vector, std::vector)’:
/home/mike/Humanoids/catkin_ws/src/hri/humanoid_gui/src/QtRosNode.cpp:153:1: warning: no return statement in function returning non-void [-Wreturn-type]
153 | }
| ^
Warning: no return statement in function returning non-void [-Wreturn-type] in QtRosNode.cpp
Warnings << humanoid_gui:make /home/mike/Humanoids/catkin_ws/logs/humanoid_gui/build.make.000.log
/home/mike/Humanoids/catkin_ws/src/hri/humanoid_gui/src/QtRosNode.cpp: In member function ‘bool QtRosNode::callPolynomialTrajectory(std::vector<double>, std::vector<double>)’:
/home/mike/Humanoids/catkin_ws/src/hri/humanoid_gui/src/QtRosNode.cpp:153:1: warning: no return statement in function returning non-void [-Wreturn-type]
153 | }
| ^
cd /home/mike/Humanoids/catkin_ws/build/humanoid_gui; catkin build --get-env humanoid_gui | catkin env -si /usr/bin/make --jobserver-auth=3,4; cd -
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