topic_names.h

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#ifndef XPP_MSGS_TOPIC_NAMES_H_
#define XPP_MSGS_TOPIC_NAMES_H_

#include <string>

namespace xpp_msgs {

// the current robot cartesian state including base, feet, time, ...
static const std::string robot_state_current("/xpp/state_curr");

// the desired state that comes from the optimizer
static const std::string robot_state_desired("/xpp/state_des");

// desired joint state (equivalent to desired cartesian state
static const std::string joint_desired("/xpp/joint_des");

// sequence of desired states coming from the optimizer
static const std::string robot_trajectory_desired("/xpp/trajectory_des");

// parameters describing the robot kinematics
static const std::string robot_parameters("/xpp/params");

// information about terrain normals and friction coefficients
static const std::string terrain_info("/xpp/terrain_info");
}

#endif /* XPP_MSGS_TOPIC_NAMES_H_ */