fix(hlvs): simulation configuration

by preventing duplicated rosbag recording as it moved to teamplayer and
using IMU data for the walking phase reset.
As we do not have foot pressure sensors in the configured devices for
hlvs, the robot will not walk otherwise.

Author: texhnolyze

bitbots_motion/bitbots_quintic_walk/config/walking_wolfgang_simulator.yaml

@@ -75,13 +75,13 @@ walking:
       phase_reset:
         min_phase: 0.90
         foot_pressure:
-          active: True
+          active: False
           ground_min_pressure: 1.5
         effort:
           active: False
           joint_min_effort: 30.0
         imu:
-          active: False
+          active: True
           y_acceleration_threshold: 1.4
 
       trunk_pid:

bitbots_simulation/bitbots_robocup_api/launch/robocup_teamplayer.launch

@@ -2,13 +2,6 @@
 <launch>
     <arg name="record" default="true" />
 
-    <!-- record rosbag -->
-    <group if="$(var record)">
-        <include file="$(find-pkg-share bitbots_bringup)/launch/rosbag_record.launch.py">
-            <arg name="sim" value="true" />
-        </include>
-    </group>
-
     <!-- load the robocup api -->
     <include file="$(find-pkg-share bitbots_robocup_api)/launch/bitbots_robocup_api_bridge.launch" />
 
@@ -23,5 +16,6 @@
         <arg name="teamcom" value="true" />
         <arg name="vision" value="true" />
         <arg name="world_model" value="true" />
+        <arg name="record" value="$(var record)" />
     </include>
 </launch>