File: thormang3_tuning_module_msgs/JointOffsetData.msg

Message Definition

 string    joint_name
 float64   goal_value
 float64   offset_value
 int32     p_gain
 int32     i_gain
 int32     d_gain
 int32     velocity_p_gain
 int32     velocity_i_gain
 int32     velocity_d_gain

Description Data set for joint offset tuning
- ` string joint_name` joint name
- ` float64 goal_value` Joint position for Offset Tuning(Unit in rad)
- ` float64 offset_value` Offset(Unit in rad)
- ` int32 p_gain` P Gain of the joint Position
- ` int32 i_gain` I Gain of the joint Position
- ` int32 d_gain` D Gain for the joint Position
- ` int32 velocity_p_gain` P Gain of the joint Velocity
- ` int32 velocity_i_gain` I Gain of the joint Velocity
- ` int32 velocity_d_gain` D Gain for the joint Velocity