• File: op3_online_walking_module_msgs/WalkingParam.msg

  • Message Definition 
      float64 dsp_ratio
  float64 lipm_height
  float64 foot_height_max
  float64 zmp_offset_x
  float64 zmp_offset_y

  • Description

    • dsp_ratio
         double support phase ratio

    • lipm_height
         linear inverted pendulum height

    • foot_height_max
         maximum value of foot height

    • zmp_offset_x
         ZMP offset for x-direction

    • zmp_offset_y
         ZMP offset for y-direction