JointOffsetPositionData2 msg

• File: thormang3_tuning_module_msgs/JointOffsetPositionData.msg

• Message Definition

string    joint_name
float64   goal_value
float64   offset_value
float64   present_value
int32     p_gain
int32     i_gain
int32     d_gain
int32     velocity_p_gain
int32     velocity_i_gain
int32     velocity_d_gain

• Description
  This message is used when creating thormang3_tuning_module_msgs/GetPresentJointOffsetData.srv snd thormang3_tuning_module_msgs/JointsOffsetPositionData.msg

  • string joint_name
       joint name

  • float64 goal_value
       Joint position for Offset Tuning(Unit in rad)

  • float64 offset_value
       Offset(Unit in rad)

  • float64 present_value
       Current position of the joint

  • int32 p_gain
       P Gain of the joint Position

  • int32 i_gain
       I Gain of the joint Position

  • int32 d_gain
       D Gain for the joint Position

  • int32 velocity_p_gain
       P Gain of the joint Velocity

  • int32 velocity_i_gain
       I Gain of the joint Velocity

  • int32 velocity_d_gain
       D Gain for the joint Velocity