test if steps from message work with phase reset

[ayin21]

Summary

We want to be able to define steps in the path planning so that the motion can use is direct in contrast to the cmd_vel messages which are translated to steps in the motion.
There are curently mothods that seem to do this but we should test them as their are not used and added before we had the phase reset. We also want to keep the phase reset as it makes walk more stable.

Is your feature request related to a problem?

Describe the solution you'd like

The current method is named stebCb(msg). Also a look into the python interface of the walk node can be helpful.

Describe alternatives you've considered