humanoid_nav_msgs

Summary

humanoid_nav_msgs
Version:

0.3.0
Description:

Messages and services for humanoid robot navigation
Maintainers:
  • Armin Hornung <HornungA AT informatik DOT uni-freiburg DOT de>
Licenses:
  • BSD
Urls:
Authors:
  • Armin Hornung
BuildDepends:
BuildtoolDepends:
 
BuildExportDepends:
 
ExecDepends:

Types

Message types

humanoid_nav_msgs/StepTarget
Field:
Constant:
  • right (uint8):0 –
  • left (uint8):1 –

Target for a single stepping motion of a humanoid’s leg

# Target for a single stepping motion of a humanoid's leg

geometry_msgs/Pose2D pose   # step pose as relative offset to last leg
uint8 leg                   # which leg to use (left/right, see below)

uint8 right=0               # right leg constant
uint8 left=1                # left leg constant

Service types

humanoid_nav_msgs/PlanFootstepsBetweenFeet
Field (Request):
 
Field (Response):
 
  • result (bool) –
  • footsteps[] (humanoid_nav_msgs/StepTarget) –
  • costs (float64) –
  • final_eps (float64) –
  • planning_time (float64) –
  • expanded_states (int64) – 
humanoid_nav_msgs/StepTarget start_left
humanoid_nav_msgs/StepTarget start_right
humanoid_nav_msgs/StepTarget goal_left
humanoid_nav_msgs/StepTarget goal_right
---
bool result
humanoid_nav_msgs/StepTarget[] footsteps
float64 costs
float64 final_eps
float64 planning_time
int64 expanded_states
humanoid_nav_msgs/PlanFootsteps
Field (Request):
 
Field (Response):
 
  • result (bool) –
  • footsteps[] (humanoid_nav_msgs/StepTarget) –
  • costs (float64) –
  • final_eps (float64) –
  • planning_time (float64) –
  • expanded_states (int64) – 
geometry_msgs/Pose2D start
geometry_msgs/Pose2D goal
---
bool result
humanoid_nav_msgs/StepTarget[] footsteps
float64 costs
float64 final_eps
float64 planning_time
int64 expanded_states
humanoid_nav_msgs/StepTargetService
Field (Request):
 

Step target as service:

# Step target as service:
humanoid_nav_msgs/StepTarget step
---
humanoid_nav_msgs/ClipFootstep
Field (Request):
 
Field (Response):
  
StepTarget step
---
StepTarget step

Action types

humanoid_nav_msgs/ExecFootsteps
Field (Goal):
Field (Result):
Field (Feedback):
 

Define the goal

# Define the goal
humanoid_nav_msgs/StepTarget[] footsteps
float64 feedback_frequency
---
# Define the result
humanoid_nav_msgs/StepTarget[] executed_footsteps
---
# Define a feedback message
humanoid_nav_msgs/StepTarget[] executed_footsteps