If possible, I would like for a feedback loop allowing for the cartesian interface to know the actual robot situation based on COM/ leg pose estimates from SLAM or another state estimator, so that it keeps sending trajectories as well as that the Cartesian model is in sync with the real robot. For example, say it listens to another topic for the pose of the robot and makes corrections based on that. On gazebo this would mean taking joint poses from gazebo and giving it to the interface, on the real robot, the SLAM will be publishing to a topic cartesian interface is listening to.
If possible, I would like for a feedback loop allowing for the cartesian interface to know the actual robot situation based on COM/ leg pose estimates from SLAM or another state estimator, so that it keeps sending trajectories as well as that the Cartesian model is in sync with the real robot. For example, say it listens to another topic for the pose of the robot and makes corrections based on that. On gazebo this would mean taking joint poses from gazebo and giving it to the interface, on the real robot, the SLAM will be publishing to a topic cartesian interface is listening to.