Overview

This package defines messages for describing the robot state, command, and robot plan. The package is dependent on sensor_msgs, std_msgs, nav_msgs, geometry_msgs.

License

The source code is released under a MIT License.

**Author: Joe Norby
Affiliation: Robomechanics Lab
Maintainers: Qishun Yu (qishu.nosp@m.ny@a.nosp@m.ndrew.nosp@m..cmu.nosp@m..edu)**

The Quad Msgs package has been tested under ROS Melodic 18.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Messages (.msg)

State Messages

• RobotState.msg : The state is defined as an odometry message made with the following messages:
  • body odometry message (quad_msgs/BodyState)
  • JointState message (sensor_msgs/JointState) with joint positions and velocities
  • multi-foot state message (quad_msgs/MultiFootState)
• BodyState.msg : The body state is defined as an pose (geometry_msgs/Pose) and twist (geometry_msgs/Twist) messages.
• MultiFootState.msg : A message to hold the state of all feet of a legged robot. The states of each foot are stored in a vector of quad_msgs/FootState messages (0 = front left, 1 = back left, 2 = front right, 3 = back right).
• FootState.msg : A message to hold the state of a single foot of a legged robot. The states (position, veclocity, and acceleration) of each foot are stored in a vector of FootState messages.
• ContactMode.msg : A message to hold contact states of the robot. The contact states are stored in a vector of quad_msgs/LegContactMode messages (order is FL Bl FR BR).
• LegContactMode.msg : A message to hold contact mode of one leg. A bool is used to determine the contact and the contact forces are stored in (geometry_msgs/Vector3)

Command Messages

• LegCommandArray.msg : A message of leg commands (quad_msgs/LegCommand) for each leg on quad. The order is in FL, BL, FR, BR.
• LegCommand.msg : A message of motor commands (quad_msgs/MotorCommand) for each joint on a quad leg(stored as Abd, Hip, Knee).
• MotorCommand.msg : A message to hold the desired position, desired velocity, feedforward torques and control gains for a single joint on Quad.

Robot Plan Messages

• BodyPlan.msg : A message to hold a quad body plan. The plan is defined as an array of odometry messages (nav_msgs/Odometry).
• MultiFootPlanContinuous.msg : A message to hold a continuous foot plan for multiple robot feet. The plan is defined as a vector of MultiFootState messages
• MultiFootPlanDiscrete.msg : A message to hold a discrete foot plan for multiple robot feet. The plans of each foot are stored in a vector of FootPlanDiscrete messages. (0 = front left, 1 = back left, 2 = front right, 3 = back right).
• FootPlanDiscrete.msg : A message to hold the discrete foot plan for a single robot foot. The plan is defined as a vector of FootState messages.
• RobotPlan.msg : This is a message to hold a robot plan. The plan is defined as an array of odometry messages.
• RobotPlanDiagnostics.msg : This is a message to hold local plan diagnostics

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker.