From cdce6f0daba48e50e0cba97db53da571b6cc2d42 Mon Sep 17 00:00:00 2001 From: Jan Gutsche Date: Sun, 17 May 2026 01:11:53 +0200 Subject: [PATCH] Major cleanup Removing leftovers of: - Wolfgang OP (webots, animations, ...) - Dynup - Dynamic Kick - Quintic walk - Dynamixel Drivers - Basler Camera Driver Cleanup of unused bitbots_msgs Closes # 790 --- include/humanoid_base_footprint/base_footprint.hpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/include/humanoid_base_footprint/base_footprint.hpp b/include/humanoid_base_footprint/base_footprint.hpp index 649a1bc..046f48a 100644 --- a/include/humanoid_base_footprint/base_footprint.hpp +++ b/include/humanoid_base_footprint/base_footprint.hpp @@ -31,7 +31,7 @@ // The base_footprint is the representation of the robot position on the floor. // The floor is usually the level where the supporting leg rests, // i.e. z = min(l_sole_z, r_sole_z) where l_sole_z and r_sole_z are the left and right sole height -// respecitvely. +// respectively. // The translation component of the frame should be the barycenter of the feet projections on the // floor. // With respect to the odom frame, the roll and pitch angles should be zero and the yaw angle should @@ -58,8 +58,6 @@ class BaseFootprintBroadcaster : public rclcpp::Node std::string base_link_frame_, base_footprint_frame_, r_sole_frame_, l_sole_frame_, odom_frame_; void supportFootCallback(const biped_interfaces::msg::Phase msg); rclcpp::Subscription::SharedPtr walking_support_foot_subscriber_; - rclcpp::Subscription::SharedPtr - dynamic_kick_support_foot_subscriber_; std::unique_ptr tfBroadcaster_; rclcpp::TimerBase::SharedPtr timer_;