FootStepCommand msg

• File: thormang3_foot_step_generator/FootStepCommand.msg

• Message Definition

string   command
int32    step_num
float64  step_length
float64  side_step_length
float64  step_angle_rad

• Description
  Command with parameters to create stepdata.

  • string command
       direction of walking
       - "forward" : forward walking
       - "backward" : backward walking
       - "turn left" : turn left in place
       - "turn right" : turn right in place
       - "left" : leftward walking
       - "right" : rightward walking

  • int32 step_num
       Number of steps

  • float64 step_length
       Step length of forward/backward walking(Unit in meter)

  • float64 side_step_length
       Step length of rightward/leftward walking(Unit in meter)

  • float64 step_angle_rad
       Step length of turn right/left walking(Unit in rad)