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)