Fsm state pub#169
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The interface only logged FSM transitions; the actual ExecFSMState was never published, so downstream nodes could only see the *commanded* /exec_fsm (which may be rejected). Register a pub_fsm_state publisher and broadcast the real exec_fsm_state_ on activate (initial INIT), at the end of every successful TransitionFSM, and on a 5 Hz heartbeat (guarded by is_activated()) so a node that (re)starts mid-run can recover the current state without transient-local QoS. The low-level RL controller arms off this so the policy only runs once the robot is really in LOW_LEVEL_CONTROL, eliminating the out-of-distribution closed-loop window on the last-action observation between arming and the hardware accepting control. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Add PassiveHoldCallback (timer_ctrl, 50 Hz) that autonomously drives WriteUserPoseCommand / WriteDampingCommand so those states don't depend on controller messages arriving. ApplyControl now guards on USER_CTRL only and contains no USER_POSE branch. TransitionToDamp calls the shared WriteDampingCommand helper for the transition-instant write; the timer sustains it afterward. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Damping and ESTOP are intentionally not command-debounced, so the joystick republishes them every callback tick while held, flooding the console with "sent Execution FSM Command" (joystick) and "ALREADY IN COMMANDED STATE" / "ESTOP TRIGGERED" (hardware) lines. Add a leading-edge FsmLogDebounce helper (unitree_fsm.h): logs on key change (a fresh command prints immediately) or after the period elapses, suppressing same-key repeats in between. Applied to the LOG LINES ONLY -- the publish, transitions, and ESTOP throw are untouched. Period reuses the existing 0.5s FSM command gate. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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Publish the states of the FSM, UserPose and Damping no longer require messaged published on the low level control subscriber for the unitree g1 interface.