• File: thormang3_offset_tuner_msgs/JointOffsetData.msg

  • Message Definition 
      string    joint_name
  float64   goal_value
  float64   offset_value
  int32     p_gain
  int32     i_gain
  int32     d_gain

  • Description
    Data set for joint offset tuning

    • string joint_name
         joint name

    • float64 goal_value
         Joint position for Offset Tuning(Unit in rad)

    • float64 offset_value
         Offset(Unit in rad)

    • 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 for the joint Position(Not used for THORMANG3)