• File: thormang3_walking_module_msgs/RobotPose.msg

  • Message Definition 
     geometry_msgs/Pose global_to_center_of_body
 geometry_msgs/Pose global_to_right_foot
 geometry_msgs/Pose global_to_left_foot

  • Description These are the parameters used for improving trajectory following of leg. PD Control is used, therefore, PD gains for each joints are declared in this message file.

    • geometry_msgs/Pose global_to_center_of_body(geometry_msgs/Pose)    desired pose of center of body with respect to global
    • geometry_msgs/Pose global_to_right_foot(geometry_msgs/Pose)    desired pose of right foot with respect to global
    • geometry_msgs/Pose global_to_left_foot(geometry_msgs/Pose)    desired pose of left foot with respect to global