Quad Msgs¶

Overview¶

This package defines the ROS2 message interfaces used across Quad-SDK for robot state, motor commands, plans, and estimator outputs. It depends on std_msgs, sensor_msgs, nav_msgs, geometry_msgs, and builtin_interfaces.

License¶

The source code is released under a MIT License.

Author: Joe Norby

Affiliation: Robomechanics Lab, Carnegie Mellon University

Maintainer: Qishun Yu (qishuny@andrew.cmu.edu)

Tested under ROS2 Jazzy on Ubuntu 24.04. This is research code; expect frequent changes and no fitness for any particular purpose.

Build¶

colcon build --packages-select quad_msgs

Messages¶

State¶

Message	Description
`RobotState.msg`	Full robot state: `BodyState` + `sensor_msgs/JointState` + `MultiFootState`.
`BodyState.msg`	Body pose (`geometry_msgs/Pose`) and twist (`geometry_msgs/Twist`).
`MultiFootState.msg`	Per-foot state array. Order: `0` FL, `1` BL, `2` FR, `3` BR.
`FootState.msg`	Position, velocity, and acceleration of a single foot.
`ContactMode.msg`	Per-leg contact states. Order: FL, BL, FR, BR.
`LegContactMode.msg`	Boolean contact flag + contact force (`geometry_msgs/Vector3`) for one leg.
`GRFArray.msg`	Array of ground reaction force vectors, application points, and per-leg contact flags.

Commands¶

Message	Description
`LegCommandArray.msg`	Array of `LegCommand` — one per leg (FL, BL, FR, BR).
`LegCommand.msg`	Per-joint motor commands (`MotorCommand[3]`) for a leg (Abd, Hip, Knee).
`MotorCommand.msg`	Desired position, velocity, feedforward torque, and PD gains for one joint.

Plans¶

Message	Description
`RobotPlan.msg`	Interpolated robot plan as an array of odometry messages. Used by global and local planners.
`BodyPlan.msg`	Body-only plan as an array of odometry messages.
`LocalPlan.msg`	Local plan: `RobotState[]` + `GRFArray[]` + plan indices + reference to the global plan timestamp.
`MultiFootPlanContinuous.msg`	Continuous foot-trajectory plan as `MultiFootState[]`.
`MultiFootPlanDiscrete.msg`	Discrete foothold plan as an array of per-foot `FootPlanDiscrete`.
`FootPlanDiscrete.msg`	Sequence of `FootState` for one foot.
`RobotPlanDiagnostics.msg`	Diagnostics (timing, success flags) for the local plan.

Estimators¶

Message	Description
`BodyForceEstimate.msg`	Estimated external joint torques for all 12 joints (see `body_force_estimator`).

Bugs & Feature Requests¶

Please report bugs and request features using the Issue Tracker.