Add params in launch file, to be able to control some robot specs

[elpimous]

The use of params in ROS launchfile could help change some values in poses or walk specs :

• robot height

• Step Length

• Step velocity

• what policy model use.

[moribots]

Thanks Vincent! There is already a ros param for selecting your policy. Step length is controlled by pushing the right joystick forward, and step velocity is controlled by the bottom left and right bumpers (See README)

I will add ones for your other requested features now.

[elpimous]

very reactive, Thanks Maurice !

[moribots]

I've just made the changes. You can modify everything that contributes to Spot's motion in the mini_ros/config/ directory (link)

Give it a shot and let me know what you think!

Commit: 708c4769547660adf2646db44bdde33915288b63

[elpimous]

Hey, Maurice !! Nearly perfect !
Perhaps could you add :

• x gravity position
• body height