• File: thormang3_foot_step_generator/FootStepCommand.msg

  • Message Definition 
      string   command
  int32    step_num
  float64  step_length
  float64  side_step_length
  float64  step_angle_rad

  • Description
    Command with parameters to create stepdata.

    • string command
         direction of walking
         - “forward” : forward walking
         - “backward” : backward walking
         - “turn left” : turn left in place
         - “turn right” : turn right in place
         - “left” : leftward walking
         - “right” : rightward walking

    • int32 step_num
         Number of steps
    • float64 step_length
         Step length of forward/backward walking(Unit in meter)
    • float64 side_step_length
         Step length of rightward/leftward walking(Unit in meter)
    • float64 step_angle_rad
         Step length of turn right/left walking(Unit in rad)