JointOffsetPositionData_msg

• File: thormang3_offset_tuner_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

• Description This message is used when creating GetPresentJointOffsetData.srv.

  • ` 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(Not used for THORMANG3)
  • ` int32 d_gain`    D Gain of the joint Position(Not used for THORMANG3)