• File: thormang3_walking_module_msgs/WalkingJointStatesStamped.msg

• Message Definition ```c Header header

float32 r_goal_hip_y float32 r_goal_hip_r float32 r_goal_hip_p float32 r_goal_kn_p float32 r_goal_an_p float32 r_goal_an_r float32 l_goal_hip_y float32 l_goal_hip_r float32 l_goal_hip_p float32 l_goal_kn_p float32 l_goal_an_p float32 l_goal_an_r

float32 r_present_hip_y float32 r_present_hip_r float32 r_present_hip_p float32 r_present_kn_p float32 r_present_an_p float32 r_present_an_r float32 l_present_hip_y float32 l_present_hip_r float32 l_present_hip_p float32 l_present_kn_p float32 l_present_an_p float32 l_present_an_r ```

• Description These are goal position of each joint of leg. This message will be used for debugging

  • Header header(std_msgs/Header)    header
  • ` float32 r_goal_hip_y`    the desired angle in radian of right hip yaw joint
  • ` float32 r_goal_hip_r`    the desired angle in radian of right hip roll joint
  • ` float32 r_goal_hip_p`    the desired angle in radian of right hip pitch joint
  • ` float32 r_goal_kn_p`    the desired angle in radian of right knee joint
  • ` float32 r_goal_an_p`    the desired angle in radian of right ankle pitch joint
  • ` float32 r_goal_an_r`    the desired angle in radian of right ankle roll joint
  • ` float32 l_goal_hip_y`    the desired angle in radian of left hip yaw joint
  • ` float32 l_goal_hip_r`    the desired angle in radian of left hip roll joint
  • ` float32 l_goal_hip_p`    the desired angle in radian of left hip pitch joint
  • ` float32 l_goal_kn_p`    the desired angle in radian of left knee joint
  • ` float32 l_goal_an_p`    the desired angle in radian of left ankle pitch joint
  • ` float32 l_goal_an_r`    the desired angle in radian of left ankle roll joint
  • ` float32 r_present_hip_y`    the present angle in radian of right hip yaw joint
  • ` float32 r_present_hip_r`    the present angle in radian of right hip roll joint
  • ` float32 r_present_hip_p`    the present angle in radian of right hip pitch joint
  • ` float32 r_present_kn_p`    the present angle in radian of right knee joint
  • ` float32 r_present_an_p`    the present angle in radian of right ankle pitch joint
  • ` float32 r_present_an_r`    the present angle in radian of right ankle roll joint
  • ` float32 l_present_hip_y`    the present angle in radian of left hip yaw joint
  • ` float32 l_present_hip_r`    the present angle in radian of left hip roll joint
  • ` float32 l_present_hip_p`    the present angle in radian of left hip pitch joint
  • ` float32 l_present_kn_p`    the present angle in radian of left knee joint
  • ` float32 l_present_an_p`    the present angle in radian of left ankle pitch joint
  • ` float32 l_present_an_r`    the present angle in radian of left ankle roll joint