File: thormang3_foot_step_generator/FootStepCommand.msg

Message Definition

 string   command
 int32    step_num
 float64  step_length
 float64  side_step_length
 float64  step_angle_rad

Description Command with parameters to create stepdata.
- ` string command` direction of walking - “forward” : forward walking - “backward” : backward walking - “turn left” : turn left in place - “turn right” : turn right in place - “left” : leftward walking - “right” : rightward walking
- ` int32 step_num` Number of steps
- ` float64 step_length` Step length of forward/backward walking(Unit in meter)
- ` float64 side_step_length` Step length of rightward/leftward walking(Unit in meter)
- ` float64 step_angle_rad` Step length of turn right/left walking(Unit in rad)