61
op3_online_walking_module_msgs/CMakeLists.txt
Normal file
61
op3_online_walking_module_msgs/CMakeLists.txt
Normal file
@ -0,0 +1,61 @@
|
||||
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
|
||||
################################################################################
|
6
op3_online_walking_module_msgs/msg/FootStepArray.msg
Normal file
6
op3_online_walking_module_msgs/msg/FootStepArray.msg
Normal file
@ -0,0 +1,6 @@
|
||||
|
||||
int32 LEFT_FOOT = 0 # Left foot constant
|
||||
int32 RIGHT_FOOT = 1 # Right foot constant
|
||||
|
||||
int32[] moving_foot
|
||||
geometry_msgs/Pose2D[] data
|
7
op3_online_walking_module_msgs/msg/FootStepCommand.msg
Normal file
7
op3_online_walking_module_msgs/msg/FootStepCommand.msg
Normal file
@ -0,0 +1,7 @@
|
||||
string command
|
||||
string start_leg
|
||||
int32 step_num
|
||||
float64 step_time
|
||||
float64 step_length
|
||||
float64 side_length
|
||||
float64 step_angle
|
2
op3_online_walking_module_msgs/msg/JointPose.msg
Normal file
2
op3_online_walking_module_msgs/msg/JointPose.msg
Normal file
@ -0,0 +1,2 @@
|
||||
float64 mov_time
|
||||
sensor_msgs/JointState pose
|
4
op3_online_walking_module_msgs/msg/KinematicsPose.msg
Normal file
4
op3_online_walking_module_msgs/msg/KinematicsPose.msg
Normal file
@ -0,0 +1,4 @@
|
||||
string name
|
||||
float64 mov_time
|
||||
geometry_msgs/Pose pose
|
||||
|
2
op3_online_walking_module_msgs/msg/PreviewRequest.msg
Normal file
2
op3_online_walking_module_msgs/msg/PreviewRequest.msg
Normal file
@ -0,0 +1,2 @@
|
||||
float64 control_cycle
|
||||
float64 lipm_height
|
6
op3_online_walking_module_msgs/msg/PreviewResponse.msg
Normal file
6
op3_online_walking_module_msgs/msg/PreviewResponse.msg
Normal file
@ -0,0 +1,6 @@
|
||||
int32 K_row
|
||||
int32 K_col
|
||||
float64[] K
|
||||
int32 P_row
|
||||
int32 P_col
|
||||
float64[] P
|
11
op3_online_walking_module_msgs/msg/Step2D.msg
Normal file
11
op3_online_walking_module_msgs/msg/Step2D.msg
Normal file
@ -0,0 +1,11 @@
|
||||
#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
|
2
op3_online_walking_module_msgs/msg/Step2DArray.msg
Normal file
2
op3_online_walking_module_msgs/msg/Step2DArray.msg
Normal file
@ -0,0 +1,2 @@
|
||||
float64 step_time
|
||||
Step2D[] footsteps_2d
|
5
op3_online_walking_module_msgs/msg/WalkingParam.msg
Normal file
5
op3_online_walking_module_msgs/msg/WalkingParam.msg
Normal file
@ -0,0 +1,5 @@
|
||||
float64 dsp_ratio
|
||||
float64 lipm_height
|
||||
float64 foot_height_max
|
||||
float64 zmp_offset_x
|
||||
float64 zmp_offset_y
|
19
op3_online_walking_module_msgs/package.xml
Normal file
19
op3_online_walking_module_msgs/package.xml
Normal file
@ -0,0 +1,19 @@
|
||||
<?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>
|
3
op3_online_walking_module_msgs/srv/GetJointPose.srv
Normal file
3
op3_online_walking_module_msgs/srv/GetJointPose.srv
Normal file
@ -0,0 +1,3 @@
|
||||
|
||||
---
|
||||
op3_online_walking_module_msgs/JointPose pose
|
3
op3_online_walking_module_msgs/srv/GetKinematicsPose.srv
Normal file
3
op3_online_walking_module_msgs/srv/GetKinematicsPose.srv
Normal file
@ -0,0 +1,3 @@
|
||||
string name
|
||||
---
|
||||
op3_online_walking_module_msgs/KinematicsPose pose
|
3
op3_online_walking_module_msgs/srv/GetPreviewMatrix.srv
Normal file
3
op3_online_walking_module_msgs/srv/GetPreviewMatrix.srv
Normal file
@ -0,0 +1,3 @@
|
||||
op3_online_walking_module_msgs/PreviewRequest req
|
||||
---
|
||||
op3_online_walking_module_msgs/PreviewResponse res
|
Reference in New Issue
Block a user