Humanoid_msgs Definitions

rmerriam · July 3, 2017, 6:55pm

Another footstep message is from IHMC: https://github.com/ihmcrobotics/ihmc_ros_core/blob/develop/ihmc_msgs/msg/FootstepDataRosMessage.msg

It is sent as a list of footsteps using:

github.com

ihmcrobotics/ihmc_ros_core/blob/develop/ihmc_msgs/msg/FootstepDataListRosMessage.msg

## FootstepDataListRosMessage
# This message commands the controller to execute a list of footsteps. See FootstepDataMessage for
# information about defining a footstep. A message with a unique id equals to 0 will be interpreted as
# invalid and will not be processed by the controller. This rule does not apply to the fields of this
# message.

# Defines the list of footstep to perform.
ihmc_msgs/FootstepDataRosMessage[] footstep_data_list

# When CONTROL_DURATIONS is chosen:  The controller will try to achieve the swingDuration and the
# transferDuration specified in the message. If a  footstep touches down early, the next step will not
# be affected by this and the whole trajectory might finish  earlier then expected. When
# CONTROL_ABSOLUTE_TIMINGS is chosen:  The controller will compute the expected times for swing start
# and touchdown and attempt to start a footstep  at that time. If a footstep touches down early, the
# following transfer will be extended to make up for this  time difference and the footstep plan will
# finish at the expected time.
uint8 execution_timing

# The swingDuration is the time a foot is not in ground contact during a step. Each step in a list of
# footsteps might have a different swing duration. The value specified here is a default value, used

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Humanoid_msgs Definitions

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