robotnik_pad_plugins/Movement: Allow plugin to check several axis fro…

[jamendezib]

This pull request introduces several changes to the PadPluginMovement class in the robotnik_pad_plugins package to enhance the handling of accelerometer watchdog parameters and improve the robustness of the code. The most important changes include converting single-value parameters to vectors, adding a utility function to read parameters as vectors, and updating the logic to handle multiple accelerometer axes.

Enhancements to accelerometer watchdog handling:

• robotnik_pad_plugins/include/robotnik_pad_plugins/movement_plugin.h: Changed axis_accel_watchdog_, last_accel_value_, and last_accel_time_ from single values to vectors to support multiple accelerometer axes.
• robotnik_pad_plugins/src/movement_plugin.cpp: Updated the initialize method to use the new getIntParamAsVector function for reading axis_accel_watchdog_ as a vector and initialized last_accel_value_ and last_accel_time_ vectors accordingly. [1] [2]

Utility function addition:

• robotnik_pad_plugins/include/robotnik_pad_plugins/movement_plugin.h: Added the getIntParamAsVector function declaration to read integer parameters as vectors.
• robotnik_pad_plugins/src/movement_plugin.cpp: Implemented the getIntParamAsVector function to handle parameters that can be either single integers or arrays of integers.

Watchdog logic improvements:

• robotnik_pad_plugins/src/movement_plugin.cpp: Modified the execute method to iterate over the axis_accel_watchdog_ vector and check each axis individually, updating the watchdog values and handling timeouts accordingly.

[jamendezib]

The main goal of this PR is to prevent the watchdog from triggering when the pad is in certain positions

[jamendezib]

Tested in a RB-Robout. Works correctly.