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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)