Automatic motion verify script

[SammyRamone]

Is your feature request related to a problem? Please describe.

Currently it is necessary to use PlotJuggler, to identify problems with the walking and other motions. This requires a lot of time and prior knowledge to detect what is wrong.

Describe the solution you'd like

I would like to implement a small script, which listens to various topics (e.g. joint_states, PWM_state, ...) and automatically throw warnings if values go out of limits.

[SammyRamone]

first it should be checked if these topics are published:

• joint states
• motor goals
• PWM states
• foot pressure
• imu

these values should be checked:

• is PWM of a servo almost 100%
• is the difference between joint goal and reached state to large
• is the maximum joint speed reached
• is acelerometer or gyroscope max values are reached
• are feet pressure sensors all connected and sending information
• are joint goals given, that are outside of joint limits

output as terminal output and diagnostic msgs

[SammyRamone]

some of those things are done in bit-bots/bitbots_misc#42