[Steering controllers library] Reference interfaces are body twist #1168
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christophfroehlich
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LGTM
This basically affects only the controllers that chains with steering controller library
Thanks for the fixes @christophfroehlich
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…1168) (#1173) (cherry picked from commit 6155248) Co-authored-by: Christoph Fröhlich <[email protected]>
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…1168) (#1174) (cherry picked from commit 6155248) Co-authored-by: Christoph Fröhlich <[email protected]>
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Fixes #1167
I'm not sure if the intention of the author was to have position input, but as it is implemented we have a body twist input on reference interfaces (velocity, not position). This PR fixes this, without any attempt to deprecate the old behavior because it was just wrong.
Tests succeed on iron distro