Stabilizer Issue: Unassigned supportFoot Variable in lipm_walking_controller
Saeed-Mansouri opened this issue · comments
It appears that a portion of the stabilizer relies on the supportFoot_ variable. Nevertheless, in the lipm_walking_controller, the support foot name has not been assigned to the stabilizer. This oversight is leading to a malfunction in the stabilizer's functionality.
This was introduced in the stabilizer by jrl-umi3218/mc_rtc#359 (with some follow up changes in jrl-umi3218/mc_rtc#375)
The member is only used in the computeCoPonHorizon method which is called when a reference ZMP horizon is provided to the stabilizer (by calling horizonReference)
This feature is not used in lipm_walking_controller so not setting the supportFoot has no effect here