diff --git a/humanoid_common_msgs/CMakeLists.txt b/humanoid_common_msgs/CMakeLists.txt index 567e8fd609ae88b6b301909485e84a732f68f59d..4eafbcf7ed18b5271c4f2c2228e25a256029b623 100644 --- a/humanoid_common_msgs/CMakeLists.txt +++ b/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 diff --git a/humanoid_common_msgs/action/humanoid_stairs.action b/humanoid_common_msgs/action/humanoid_stairs.action new file mode 100644 index 0000000000000000000000000000000000000000..00b69aa74c1bc362658711ebf723a637b31b2581 --- /dev/null +++ b/humanoid_common_msgs/action/humanoid_stairs.action @@ -0,0 +1,8 @@ +#goal definition +bool up +--- +#result definition +bool successful +--- +#feedback +int32 current_phase diff --git a/humanoid_common_msgs/msg/stairs_params.msg b/humanoid_common_msgs/msg/stairs_params.msg new file mode 100644 index 0000000000000000000000000000000000000000..d1c2c7caeaa35d90c5ef8d590f4029c7deda3ece --- /dev/null +++ b/humanoid_common_msgs/msg/stairs_params.msg @@ -0,0 +1,25 @@ +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 diff --git a/humanoid_common_msgs/srv/get_stairs_params.srv b/humanoid_common_msgs/srv/get_stairs_params.srv new file mode 100644 index 0000000000000000000000000000000000000000..faa7f11fdc0b5a600e9ab9542d81cd58af5e8ad5 --- /dev/null +++ b/humanoid_common_msgs/srv/get_stairs_params.srv @@ -0,0 +1,2 @@ +--- +humanoid_common_msgs/stairs_params params diff --git a/humanoid_common_msgs/srv/set_stairs_params.srv b/humanoid_common_msgs/srv/set_stairs_params.srv new file mode 100644 index 0000000000000000000000000000000000000000..ec622f92df991c31105ed01d6f9e97fddd6758a9 --- /dev/null +++ b/humanoid_common_msgs/srv/set_stairs_params.srv @@ -0,0 +1,3 @@ +humanoid_common_msgs/stairs_params params +--- +bool ret