Standardised naming to primary and secondary within code and readme

Author: Lu, Bethany(Data61, Pullenvale)

include/syropod_highlevel_controller/state_controller.h

@@ -291,8 +291,8 @@ class StateController
   ros::Subscriber parameter_selection_subscriber_;     ///< Subscriber for topic /syropod_remote/parameter_selection
   ros::Subscriber parameter_adjustment_subscriber_;    ///< Subscriber for topic /syropod_remote/parameter_adjustment
 
-  ros::Subscriber primary_tip_pose_subscriber_; ///< Subscriber for topic /syropod_manipulation/AR/Pose
-  ros::Subscriber secondary_tip_pose_subscriber_; ///< Subscriber for topic /syropod_manipulation/AL/Pose
+  ros::Subscriber primary_tip_pose_subscriber_;   ///< Subscriber for topic /syropod_manipulation/primary/pose
+  ros::Subscriber secondary_tip_pose_subscriber_; ///< Subscriber for topic /syropod_manipulation/secondary/pose
 
   ros::Subscriber target_configuration_subscriber_; ///< Subscriber for topic /target_configuration
   ros::Subscriber target_body_pose_subscriber_;     ///< Subscriber for topic /target_body_pose
@@ -373,8 +373,8 @@ class StateController
   LegContainer::iterator leg_it_;     ///< Leg iteration member variable used to minimise code
   JointContainer::iterator joint_it_; ///< Joint iteration member variable used to minimise code
 
-  Pose primary_pose_input_; ///< Input for the desired pose of the leg tip AR
-  Pose secondary_pose_input_; ///< Input for the desired pose of the leg tip AR
+  Pose primary_pose_input_;   ///< Input for the desired pose of primary leg tip 
+  Pose secondary_pose_input_; ///< Input for the desired pose of secondary the leg tip
 
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW

readme.md

@@ -100,12 +100,12 @@ For information on parameters see readme in config folder.
 ### Syropod Manipulation:
 * AR Leg Tip Position:
     * Description: The desired position of leg AR in Cartesian space.   
-    * Topic: */syropod_manipulation/AR/Pose*
+    * Topic: */syropod_manipulation/primary/Pose*
     * Type:  geometry_msgs::Pose
 
 * AL Leg Tip Position:
     * Description: The desired position of leg AL in Cartesian space.   
-    * Topic: */syropod_manipulation/AL/Pose*
+    * Topic: */syropod_manipulation/secondary/Pose*
     * Type:  geometry_msgs::Pose
 
 ### Motor and Sensor Inputs

src/state_controller.cpp

@@ -63,10 +63,11 @@ StateController::StateController(void)
                                                 &StateController::parameterSelectionCallback, this);
   parameter_adjustment_subscriber_ = n.subscribe("syropod_remote/parameter_adjustment", 1,
                                                  &StateController::parameterAdjustCallback, this);
+                                                 
   // Hexapod Leg Manipulation topic subscriptions
-  primary_tip_pose_subscriber_ = n.subscribe("/syropod_manipulation/AR/Pose", 1,
+  primary_tip_pose_subscriber_ = n.subscribe("/syropod_manipulation/primary/pose", 1,
                                              &StateController::primaryTipPoseInputCallback, this);
-  secondary_tip_pose_subscriber_ = n.subscribe("/syropod_manipulation/AL/Pose", 1,
+  secondary_tip_pose_subscriber_ = n.subscribe("/syropod_manipulation/secondary/pose", 1,
                                                &StateController::secondaryTipPoseInputCallback, this);
 
   // Planner subscription/publisher

src/walk_controller.cpp

@@ -734,9 +734,7 @@ void WalkController::updateManual(const int &primary_leg_selection_ID, const Pos
       {
         if (params_.leg_manipulation_mode.data == "tip_control")
         {
-          
           // TODO add orientation control
-          // leg_stepper->setCurrentTipPose(Pose(tip_position_input, tip_rotation_input));
           leg_stepper->setCurrentTipPose(Pose(tip_position_input, UNDEFINED_ROTATION));
         }
       }
@@ -1095,7 +1093,7 @@ void LegStepper::updateTipPosition(void)
           target_tip_pose_.position_ += getProjection(difference, walk_plane_normal_);
         }
         // Shift target toward step surface by defined distance and rely on step surface contact detection (REACTIVE)
-        else
+        else 
         {
           target_tip_pose_.position_ -= walker_->getStepDepth() * Eigen::Vector3d::UnitZ();
         }