Merge branch 'fix/pywalk' into feature/mujoco

Author: Flova

bitbots_motion/bitbots_quintic_walk/bitbots_quintic_walk_py/py_walk.py

@@ -107,24 +107,24 @@ def set_parameters(self, param_dict):
         for parameter in parameters:
             self.py_walk_wrapper.set_parameter(serialize_message(parameter))
 
-    def get_phase(self):
+    def get_phase(self) -> float:
         return self.py_walk_wrapper.get_phase()
 
-    def get_freq(self):
+    def get_freq(self) -> float:
         return self.py_walk_wrapper.get_freq()
 
-    def get_support_state(self):
+    def get_support_state(self) -> Phase:
         return deserialize_message(self.py_walk_wrapper.get_support_state(), Phase)
 
-    def is_left_support(self):
+    def is_left_support(self) -> bool:
         return self.py_walk_wrapper.is_left_support()
 
-    def get_odom(self):
+    def get_odom(self) -> Odometry:
         odom = self.py_walk_wrapper.get_odom()
         result = deserialize_message(odom, Odometry)
         return result
 
-    def publish_debug(self):
+    def publish_debug(self) -> None:
         self.py_walk_wrapper.publish_debug()
 
     def reset_and_test_if_speed_possible(self, cmd_vel_msg, threshold=0.001):

bitbots_motion/bitbots_quintic_walk/src/walk_node.cpp

@@ -10,7 +10,7 @@ using namespace std::chrono_literals;
 namespace bitbots_quintic_walk {
 
 WalkNode::WalkNode(rclcpp::Node::SharedPtr node, const std::string& ns,
-                   std::vector<rclcpp::Parameter> moveit_parameters)
+                   const std::vector<rclcpp::Parameter>& moveit_parameters)
     : node_(node),
       param_listener_(node_),
       config_(param_listener_.get_params()),

bitbots_motion/bitbots_quintic_walk/src/walk_pywrapper.cpp

@@ -2,8 +2,8 @@
 
 void PyWalkWrapper::spin_some() { rclcpp::spin_some(node_); }
 
-PyWalkWrapper::PyWalkWrapper(std::string ns, std::vector<py::bytes> walk_parameter_msgs,
-                             std::vector<py::bytes> moveit_parameter_msgs, bool force_smooth_step_transition) {
+PyWalkWrapper::PyWalkWrapper(const std::string &ns, const std::vector<py::bytes> &walk_parameter_msgs,
+                             const std::vector<py::bytes> &moveit_parameter_msgs, bool force_smooth_step_transition) {
   // initialize rclcpp if not already done
   if (!rclcpp::contexts::get_global_default_context()->is_valid()) {
     rclcpp::init(0, nullptr);