@bmagyar Great! Many humanoids use cascade control schemes that aren't handled (to my knowledge) by ros_control. For hardware interfaces, we may want to initially focus on a couple of widespread core robot platforms for which we can provide ros_control hardware abstraction. There have been a few non-ROS humanoid frameworks that have demonstrated common walking controllers across multiple platforms.
@airballking Can you provide a link to your WBC framework?
@SammyRamone RoboCup, both soccer and rescue leagues, may be a community where we can get the most initial traction. However, we'll need to be careful to make sure our stack supports RoboCup without loss of generality.
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