Walking-controller expanded with navigation features

[SimoneMic]

Hello

I am opening this issue to illustrate the changes that I've made to the walking controller for enabling the communication with the navigation stack.
The main files impacted are the Module and TrajectoryGenerator

1. Two new parallel threads have been added: one streams the odometry information of the virtual unicycle taken from m_FKSolver, the other publishes the replanning trigger to the navigation stack (i.e. when to plan a new path).
2. The CoM and planned footsteps are being published on two separate ports for visualization purposes (Rviz) for the navigation stack.
3. New config parameters for the navigation side
4. Code flow has been changed to handle different types of configurations: manual, navigation with a 2D input path (x,y poses) - i.e. controller in personFollowing mode, navigation with a 3D input path (x, y, theta) - i.e. a different method is called from the footstep planner is called (changes here and this is the relevant PR )
5. The code low is set by default to work in manual mode, so that the actual config files shouldn't be changed, ignoring thus all the navigation parameters

This issue is mainly for discussion, also because the code could be improved based on your needs and styles.

[SimoneMic]

Another thing to discuss is how to handle different config parameters from the planner side (also PID values) that I have changed for my simulation.

[S-Dafarra]

Hi @SimoneMic, thanks for opening the issue. I would say it is a bit hard to provide comments based on the numbered list. A PR would be the best place to discuss about the code I would say. I have seen you have opened #143 but there are many conflicts, and the PR dimension is not negligible. Would you be able to split it into smaller PRs?

Also, it seems that you have been working on a fork of https://github.com/robotology/unicycle-footstep-planner. Since this is a dependency of walking-controllers, I would start from that one first. Also there I would suggest opening a series of PR where we can check about the modifications more in-depth.

[SimoneMic]

Hi

I will separate it into different PRs.
The first two are on separate branches and are independent from other changes:
#144 for the replanning trigger -> syncronize the navigation stack with the walking controller
#145 for the streaming of the information needed by the navigation stack

The next one will need changes of the unicycle-footstep-planner, I will keep it on hold for the moment