File: thormang3_foot_step_generator/FootStepCommand.msg

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)