refactor how walk_stabilizer accesses config values for adjust_step_length()

Author: Johannesbrae

bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_stabilizer.hpp

@@ -24,8 +24,7 @@ class WalkStabilizer : public bitbots_splines::AbstractStabilizer<WalkResponse>
   void reset() override;
   WalkResponse stabilize(const WalkResponse &response, const rclcpp::Duration &dt) override;
   WalkRequest adjust_step_length(WalkRequest request, const double imu_roll, const double imu_pitch,
-                                 double pitch_threshold, double roll_threshold, const rclcpp::Duration &dt,
-                                 walking::Params config_);
+                                 const rclcpp::Duration &dt, walking::Params config_);
 
  private:
   rclcpp::Node::SharedPtr node_;

bitbots_motion/bitbots_quintic_walk/src/walk_node.cpp

@@ -179,9 +179,8 @@ bitbots_msgs::msg::JointCommand WalkNode::step(double dt) {
 
   // Apply step length adjustment
   RCLCPP_WARN(node_->get_logger(), "Original step size: %f, %f", request.linear_orders[0], request.linear_orders[1]);
-  request = stabilizer_.adjust_step_length(
-      request, current_trunk_fused_roll_, current_trunk_fused_pitch_, config_.node.step_length.pitch.threshold,
-      config_.node.step_length.roll.threshold, rclcpp::Duration::from_nanoseconds(1e9 * dt), config_);
+  request = stabilizer_.adjust_step_length(request, current_trunk_fused_roll_, current_trunk_fused_pitch_,
+                                           rclcpp::Duration::from_nanoseconds(1e9 * dt), config_);
   RCLCPP_WARN(node_->get_logger(), "New step size: %f, %f", request.linear_orders[0], request.linear_orders[1]);
 
   walk_engine_.setGoals(request);

bitbots_motion/bitbots_quintic_walk/src/walk_stabilizer.cpp

@@ -24,7 +24,6 @@ void WalkStabilizer::reset() {
 }
 
 WalkRequest WalkStabilizer::adjust_step_length(WalkRequest request, const double imu_roll, const double imu_pitch,
-                                               double pitch_threshold, double roll_threshold,
                                                const rclcpp::Duration& dt, walking::Params config_) {
   double imu_pitch_adjusted = imu_pitch - config_.engine.trunk_pitch;
   double pitch_threshold = config_.node.step_length.pitch.threshold;