Merge pull request #5 from ROBOTIS-GIT/develop

Develop

op3_online_walking_module_msgs/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(op3_online_walking_module_msgs)
+
+################################################################################
+# Packages
+################################################################################
+find_package(catkin REQUIRED COMPONENTS
+  sensor_msgs
+  std_msgs
+  geometry_msgs
+  message_generation
+)
+
+################################################################################
+# Declare ROS messages, services and actions
+################################################################################
+add_message_files(
+  FILES
+  JointPose.msg
+  KinematicsPose.msg
+  FootStepCommand.msg
+  FootStepArray.msg
+  PreviewRequest.msg
+  PreviewResponse.msg
+  WalkingParam.msg
+  Step2D.msg
+  Step2DArray.msg
+)
+
+add_service_files(
+  FILES
+  GetJointPose.srv
+  GetKinematicsPose.srv
+  GetPreviewMatrix.srv
+)
+
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+  sensor_msgs
+  geometry_msgs
+)
+
+################################################################################
+# Catkin specific configuration
+################################################################################
+catkin_package(
+  CATKIN_DEPENDS std_msgs sensor_msgs geometry_msgs
+)
+
+################################################################################
+# Build
+################################################################################
+
+################################################################################
+# Install
+################################################################################
+
+################################################################################
+# Test
+################################################################################

op3_online_walking_module_msgs/msg/FootStepArray.msg

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+
+int32 LEFT_FOOT  = 0 # Left foot constant
+int32 RIGHT_FOOT = 1 # Right foot constant
+
+int32[]                moving_foot
+geometry_msgs/Pose2D[] data

op3_online_walking_module_msgs/msg/FootStepCommand.msg

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+string  command
+string  start_leg
+int32   step_num
+float64 step_time
+float64 step_length
+float64 side_length
+float64 step_angle

op3_online_walking_module_msgs/msg/JointPose.msg

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+float64  mov_time
+sensor_msgs/JointState  pose

op3_online_walking_module_msgs/msg/KinematicsPose.msg

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+string  name
+float64  mov_time
+geometry_msgs/Pose pose
+

op3_online_walking_module_msgs/msg/PreviewRequest.msg

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+float64 control_cycle
+float64 lipm_height

op3_online_walking_module_msgs/msg/PreviewResponse.msg

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+int32 K_row
+int32 K_col
+float64[] K
+int32 P_row
+int32 P_col
+float64[] P

op3_online_walking_module_msgs/msg/Step2D.msg

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+#2D StepData
+
+geometry_msgs/Pose2D step2d   # step pose as relative offset to last leg
+
+
+# which leg to be used (left/right/no, see below)
+uint8 moving_foot   
+
+uint8 LEFT_FOOT_SWING  = 1 # Left foot constant
+uint8 RIGHT_FOOT_SWING = 2 # Right foot constant
+uint8 STANDING         = 3 # Standing constant

op3_online_walking_module_msgs/msg/Step2DArray.msg

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+float64 step_time
+Step2D[] footsteps_2d

op3_online_walking_module_msgs/msg/WalkingParam.msg

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+float64 dsp_ratio
+float64 lipm_height
+float64 foot_height_max
+float64 zmp_offset_x
+float64 zmp_offset_y

op3_online_walking_module_msgs/package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>op3_online_walking_module_msgs</name>
+  <version>0.0.0</version>
+  <description>The op3_online_walking_module_msgs package</description>
+  <license>Apache License 2.0</license>
+  <license>BSD</license>
+  <author email="sch@robotis.com">SCH</author>
+  <maintainer email="pyo@robotis.com">Pyo</maintainer>
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>message_runtime</run_depend>
+</package>

op3_online_walking_module_msgs/srv/GetJointPose.srv

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+
+---
+op3_online_walking_module_msgs/JointPose pose

op3_online_walking_module_msgs/srv/GetKinematicsPose.srv

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+string    name
+---
+op3_online_walking_module_msgs/KinematicsPose pose

op3_online_walking_module_msgs/srv/GetPreviewMatrix.srv

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+op3_online_walking_module_msgs/PreviewRequest req
+---
+op3_online_walking_module_msgs/PreviewResponse res