jsk_footstep_controller¶

Message types¶

• jsk_footstep_controller/GroundContactState
• jsk_footstep_controller/FootCoordsLowLevelInfo
• jsk_footstep_controller/SynchronizedForces

jsk_footstep_controller/GroundContactState¶

Field:	header (std_msgs/Header) – contact_state (uint8) – error_pitch_angle (float64) – error_roll_angle (float64) – error_yaw_angle (float64) – error_z (float64) –
Constant:	CONTACT_BOTH_GROUND (uint8):1 – CONTACT_AIR (uint8):2 – CONTACT_LLEG_GROUND (uint8):3 – CONTACT_RLEG_GROUND (uint8):4 – CONTACT_UNSTABLE (uint8):5 –

Header header

uint8 CONTACT_BOTH_GROUND=1
uint8 CONTACT_AIR=2
uint8 CONTACT_LLEG_GROUND=3
uint8 CONTACT_RLEG_GROUND=4
uint8 CONTACT_UNSTABLE=5
uint8 contact_state

float64 error_pitch_angle
float64 error_roll_angle
float64 error_yaw_angle
float64 error_z

jsk_footstep_controller/FootCoordsLowLevelInfo¶

Field:	header (std_msgs/Header) – raw_lleg_force (float64) – raw_rleg_force (float64) – filtered_lleg_force (float64) – filtered_rleg_force (float64) – threshold (float64) –

Header header
float64 raw_lleg_force
float64 raw_rleg_force
float64 filtered_lleg_force
float64 filtered_rleg_force
float64 threshold

jsk_footstep_controller/SynchronizedForces¶

Field:	header (std_msgs/Header) – lleg_force (geometry_msgs/WrenchStamped) – rleg_force (geometry_msgs/WrenchStamped) – joint_angles (sensor_msgs/JointState) – zmp (geometry_msgs/PointStamped) –

Header header
geometry_msgs/WrenchStamped lleg_force
geometry_msgs/WrenchStamped rleg_force
sensor_msgs/JointState joint_angles
geometry_msgs/PointStamped zmp

Service types¶

• jsk_footstep_controller/RequireLog
• jsk_footstep_controller/RequireMonitorStatus

jsk_footstep_controller/RequireLog¶

Field (Response):
	sexp (string) –

---
string sexp

jsk_footstep_controller/RequireMonitorStatus¶

Field (Request):
	header (std_msgs/Header) – threshold (float32) –
Field (Response):
	go (bool) –

Header header
float32 threshold
---
bool go

Action types¶

• jsk_footstep_controller/LookAroundGround

jsk_footstep_controller/LookAroundGround¶

goal

# goal
---
# result
---
#feedback