robosoccer_motion

Plans footsteps and body movement paths

Publishes

• String: /footsteps: Where to put next foot down
• PoseStamped: /target_pose: Robot target position

Subscribes to

• String: /behaviour_state: What the robot should do
• JointState: /joint_state: Robot limb joint states
• Float32: /imu/data: IMU reading from robot
• Float32: /imu/euler_ori: IMU Euler Orientation from robot
• Float32: /left/force: Left foot force reading
• Float32: /right/force: Right foot force reading