Listen for /support_foot and not just /walk_support_state

[ftsell]

This should be done to increase compatibility with different action the robot can do.
For example a kick also needs to publish a support foot but it would not be logical to publish on /walk_support_state. It is also not practical to add a new subscriber to humanoid_base_footprint for every other action.

[SammyRamone]

ping @jgueldenstein is this still an open issue?

[SammyRamone]

currently the base_footprint listens to walk and kick and works. I will close this issue for now, since I don't expect any further support sttes in the near futur