RobotPose msg

• File: thormang3_walking_module_msgs/RobotPose.msg

• Message Definition

geometry_msgs/Pose global_to_center_of_body
geometry_msgs/Pose global_to_right_foot
geometry_msgs/Pose global_to_left_foot

• Description
  These are the parameters used for improving trajectory following of leg.
  PD Control is used, therefore, PD gains for each joints are declared in this message file.

  • geometry_msgs/Pose global_to_center_of_body(geometry_msgs/Pose)
       desired pose of center of body with respect to global

  • geometry_msgs/Pose global_to_right_foot(geometry_msgs/Pose)
       desired pose of right foot with respect to global

  • geometry_msgs/Pose global_to_left_foot(geometry_msgs/Pose)
       desired pose of left foot with respect to global