• File: thormang3_walking_module_msgs/RobotPose.msg

  • Message Definition 
      geometry_msgs/Pose global_to_center_of_body
  geometry_msgs/Pose global_to_right_foot
  geometry_msgs/Pose global_to_left_foot

  • Description
    These are the parameters used for improving trajectory following of leg.
    PD Control is used, therefore, PD gains for each joints are declared in this message file.

    • geometry_msgs/Pose global_to_center_of_body(geometry_msgs/Pose)
         desired pose of center of body with respect to global

    • geometry_msgs/Pose global_to_right_foot(geometry_msgs/Pose)
         desired pose of right foot with respect to global

    • geometry_msgs/Pose global_to_left_foot(geometry_msgs/Pose)
         desired pose of left foot with respect to global