WalkingJointStatesStamped msg

• File: thormang3_walking_module_msgs/WalkingJointStatesStamped.msg

• Message Definition

Header header

float32 r_goal_hip_y
float32 r_goal_hip_r
float32 r_goal_hip_p
float32 r_goal_kn_p
float32 r_goal_an_p
float32 r_goal_an_r
float32 l_goal_hip_y
float32 l_goal_hip_r
float32 l_goal_hip_p
float32 l_goal_kn_p
float32 l_goal_an_p
float32 l_goal_an_r

float32 r_present_hip_y
float32 r_present_hip_r
float32 r_present_hip_p
float32 r_present_kn_p
float32 r_present_an_p
float32 r_present_an_r
float32 l_present_hip_y
float32 l_present_hip_r
float32 l_present_hip_p
float32 l_present_kn_p
float32 l_present_an_p
float32 l_present_an_r

• Description
  These are goal position of each joint of leg.
  This message will be used for debugging

  • Header header(std_msgs/Header)
       header

  • float32 r_goal_hip_y
       the desired angle in radian of right hip yaw joint

  • float32 r_goal_hip_r
       the desired angle in radian of right hip roll joint

  • float32 r_goal_hip_p
       the desired angle in radian of right hip pitch joint

  • float32 r_goal_kn_p
       the desired angle in radian of right knee joint

  • float32 r_goal_an_p
       the desired angle in radian of right ankle pitch joint

  • float32 r_goal_an_r
       the desired angle in radian of right ankle roll joint

  • float32 l_goal_hip_y
       the desired angle in radian of left hip yaw joint

  • float32 l_goal_hip_r
       the desired angle in radian of left hip roll joint

  • float32 l_goal_hip_p
       the desired angle in radian of left hip pitch joint

  • float32 l_goal_kn_p
       the desired angle in radian of left knee joint

  • float32 l_goal_an_p
       the desired angle in radian of left ankle pitch joint

  • float32 l_goal_an_r
       the desired angle in radian of left ankle roll joint

  • float32 r_present_hip_y
       the present angle in radian of right hip yaw joint

  • float32 r_present_hip_r
       the present angle in radian of right hip roll joint

  • float32 r_present_hip_p
       the present angle in radian of right hip pitch joint

  • float32 r_present_kn_p
       the present angle in radian of right knee joint

  • float32 r_present_an_p
       the present angle in radian of right ankle pitch joint

  • float32 r_present_an_r
       the present angle in radian of right ankle roll joint

  • float32 l_present_hip_y
       the present angle in radian of left hip yaw joint

  • float32 l_present_hip_r
       the present angle in radian of left hip roll joint

  • float32 l_present_hip_p
       the present angle in radian of left hip pitch joint

  • float32 l_present_kn_p
       the present angle in radian of left knee joint

  • float32 l_present_an_p
       the present angle in radian of left ankle pitch joint

  • float32 l_present_an_r
       the present angle in radian of left ankle roll joint