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Reset the walk cycle when the manual penalty is activated. #724

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Merged
merged 4 commits into from
Oct 14, 2025
Merged

Reset the walk cycle when the manual penalty is activated. #724

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68fcbe1
Reset the walk cycle when the manual penalty is activated.
Flova Oct 13, 2025
6022676
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Flova Oct 13, 2025
895bc44
Update bitbots_motion/bitbots_quintic_walk/src/walk_node.cpp
Flova Oct 14, 2025
291057b
Formatting
jaagut Oct 14, 2025
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6 changes: 4 additions & 2 deletions bitbots_motion/bitbots_quintic_walk/src/walk_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -115,8 +115,10 @@ void WalkNode::run() {
// necessary as timer in simulation does not work correctly https://github.com/ros2/rclcpp/issues/465
if (dt != 0.0) {
if (robot_state_ == bitbots_msgs::msg::RobotControlState::FALLING ||
robot_state_ == bitbots_msgs::msg::RobotControlState::GETTING_UP) {
// the robot fell, we have to reset everything and do nothing else
robot_state_ == bitbots_msgs::msg::RobotControlState::GETTING_UP ||
robot_state_ == bitbots_msgs::msg::RobotControlState::PENALTY) {
// The robot fell or the penalty button was pressed.
// We have to reset everything and do nothing else to ensure a stable restart afterwards.
walk_engine_.reset();
stabilizer_.reset();
} else {
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