OCS2_legged_robot test launch bug.

[Zcyyy]

Describe the bug
An error was reported while running roslaunch ocs2_legged_robot legged_robot.launch

Expected behavior
A clear and concise description of what you expected to happen.

Screenshots

Desktop (please complete the following information):

• OS: ubuntu
• Version: 20.04

[rubengrandia]

Thanks for reporting. This error is due to an assert that should not have been there anymore. This will be fixed in the next release. For now you can build in release mode or remove the failing asserts here:

ocs2/ocs2_robotic_examples/ocs2_legged_robot/src/foot_planner/CubicSpline.cpp

Line 106 in b037d81

assert(t >= t0_);

ocs2/ocs2_robotic_examples/ocs2_legged_robot/src/foot_planner/CubicSpline.cpp

Line 107 in b037d81

assert(t <= t1_);

[Zcyyy]

Thank you very much!

ocs2/ocs2_robotic_examples/ocs2_legged_robot/src/constraint/EndEffectorLinearConstraint.cpp

Lines 62 to 67 in b037d81

	assert(config.b.rows() == numConstraints_);
	assert(config.Ax.size() > 0 || config.Av.size());
	assert(config.Ax.size() > 0 && config.Ax.rows() == numConstraints_);
	assert(config.Ax.size() > 0 && config.Ax.cols() == 3);
	assert(config.Av.size() > 0 && config.Av.rows() == numConstraints_);
	assert(config.Av.size() > 0 && config.Av.cols() == 3);

also need to remove.After remove these bugs,the code works perfectly.