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Minor cleanup #55

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Merged
Flova merged 1 commit into from
Jul 12, 2026
Merged

Minor cleanup #55

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4 changes: 1 addition & 3 deletions include/humanoid_base_footprint/base_footprint.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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<biped_interfaces::msg::Phase>::SharedPtr walking_support_foot_subscriber_;
rclcpp::Subscription<biped_interfaces::msg::Phase>::SharedPtr
dynamic_kick_support_foot_subscriber_;

std::unique_ptr<tf2_ros::TransformBroadcaster> tfBroadcaster_;
rclcpp::TimerBase::SharedPtr timer_;
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