jsk_footstep_msgs

Summary

jsk_footstep_msgs
Version:

2.0.0
Description:

jsk_footstep_msgs
Maintainers:
  • Ryohei Ueda <ueda AT jsk DOT t DOT u-tokyo DOT ac DOT jp>
Licenses:
  • BSD
Urls:
Authors:
  • Ryohei Ueda <ueda AT jsk DOT t DOT u-tokyo DOT ac DOT jp>
BuildDepends:
BuildtoolDepends:
 
BuildExportDepends:
 
ExecDepends:

Types

Message types

jsk_footstep_msgs/Footstep
Constant:
  • RIGHT (uint8):2 –
  • LEFT (uint8):1 –
  • REJECTED (uint8):3 –
  • APPROVED (uint8):4 –
Field: 
uint8 RIGHT=2
uint8 LEFT=1

# Constants to visualize progress
uint8 REJECTED=3
uint8 APPROVED=4

uint8 leg
geometry_msgs/Pose pose
duration duration
# optional parameters
uint32 footstep_group
geometry_msgs/Vector3 dimensions
float32 swing_height
float32 cost
jsk_footstep_msgs/FootstepArray
Field: 
Header header
Footstep[] footsteps

Action types

jsk_footstep_msgs/ExecFootsteps
Constant (Goal):
 
  • NEW_TARGET (uint8):0 –
  • RESUME (uint8):1 –
Field (Goal):

goal

# goal
uint8 NEW_TARGET=0
uint8 RESUME=1
FootstepArray footstep
uint8 strategy
---
# result
---
# feedback
jsk_footstep_msgs/PlanFootsteps
Field (Goal):
Field (Result):
Field (Feedback):
 

goal

# goal
FootstepArray goal_footstep
FootstepArray initial_footstep
duration timeout
---
# result
FootstepArray result
---
# feedback
FootstepArray feedback