File: op3_walking_module_msgs/WalkingParam.msg
Raw Message Definition
####### walking init pose #######
float32 init_x_offset
float32 init_y_offset
float32 init_z_offset
float32 init_roll_offset
float32 init_pitch_offset
float32 init_yaw_offset
####### time parameter #####
float32 period_time
float32 dsp_ratio
float32 step_fb_ratio
########## walking parameter ########
float32 x_move_amplitude
float32 y_move_amplitude
float32 z_move_amplitude
float32 angle_move_amplitude
bool move_aim_on
########## balance parameter ##########
bool balance_enable
float32 balance_hip_roll_gain
float32 balance_knee_gain
float32 balance_ankle_roll_gain
float32 balance_ankle_pitch_gain
float32 y_swap_amplitude
float32 z_swap_amplitude
float32 arm_swing_gain
float32 pelvis_offset
float32 hip_pitch_offset
########## gain parameter ##########
int32 p_gain
int32 i_gain
int32 d_gain
Compact Message Definition
float32 init_x_offset
float32 init_y_offset
float32 init_z_offset
float32 init_roll_offset
float32 init_pitch_offset
float32 init_yaw_offset
float32 period_time
float32 dsp_ratio
float32 step_fb_ratio
float32 x_move_amplitude
float32 y_move_amplitude
float32 z_move_amplitude
float32 angle_move_amplitude
bool move_aim_on
bool balance_enable
float32 balance_hip_roll_gain
float32 balance_knee_gain
float32 balance_ankle_roll_gain
float32 balance_ankle_pitch_gain
float32 y_swap_amplitude
float32 z_swap_amplitude
float32 arm_swing_gain
float32 pelvis_offset
float32 hip_pitch_offset
int32 p_gain
int32 i_gain
int32 d_gain