Added a message with the stairs algorithm parameters.

Added a service to set the stairs algorithm parameters.
Added a service to get the stairs algorithm parameters.
Added an action to climb stairs.

humanoid_common_msgs/CMakeLists.txt

@@ -43,6 +43,7 @@ find_package(catkin REQUIRED message_generation std_msgs actionlib_msgs sensor_m
 add_message_files(
   FILES
   walk_params.msg
+  stairs_params.msg
   tag_pose.msg
   tag_pose_array.msg
   buttons.msg
@@ -56,6 +57,8 @@ add_service_files(
   FILES
   set_walk_params.srv
   get_walk_params.srv
+  set_stairs_params.srv
+  get_stairs_params.srv
   set_servo_modules.srv
   set_pid.srv
   get_pid.srv
@@ -70,6 +73,7 @@ add_action_files(
   humanoid_motion.action
   humanoid_follow_target.action
   humanoid_gripper.action
+  humanoid_stairs.action
 )
 
 ## Generate added messages and services with any dependencies listed here

humanoid_common_msgs/action/humanoid_stairs.action

+#goal definition
+bool    up
+---
+#result definition
+bool    successful
+---
+#feedback
+int32   current_phase

humanoid_common_msgs/msg/stairs_params.msg

+float32 PHASE1_TIME          
+float32 PHASE2_TIME         
+float32 PHASE3_TIME        
+float32 PHASE4_TIME       
+float32 PHASE5_TIME      
+float32 PHASE6_TIME     
+float32 PHASE7_TIME    
+float32 PHASE8_TIME   
+float32 PHASE9_TIME  
+float32 X_OFFSET    
+float32 Y_OFFSET   
+float32 Z_OFFSET  
+float32 R_OFFSET 
+float32 P_OFFSET
+float32 A_OFFSET            
+float32 Y_SHIFT            
+float32 X_SHIFT           
+float32 Z_OVERSHOOT      
+float32 Z_HEIGHT        
+float32 HIP_PITCH_OFFSET
+float32 R_SHIFT       
+float32 P_SHIFT      
+float32 A_SHIFT     
+float32 Y_SPREAD   
+float32 X_SHIFT_BODY 

humanoid_common_msgs/srv/get_stairs_params.srv

+---
+humanoid_common_msgs/stairs_params params

humanoid_common_msgs/srv/set_stairs_params.srv

+humanoid_common_msgs/stairs_params params
+---
+bool ret