Hexapod Messages
Custom messages defined for the Hexapod communication.
Feet Position
Position of all feet, consist of 6 times a Pose:
hexapod_msgs/Pose[6] foot
Pose is used here instead of point because in the case of 4 joints the system is under-constraint and requires additional information. This additional information in this case is the RPY of the foot.
Legs Joints
Groups 6 leg joints together to describe the whole robot:
hexapod_msgs/LegJoints[6] leg
Leg Joints
All joint angles of a leg:
float64 coxa
float64 femur
float64 tibia
float64 tarsus
The tarsus joint is not used if the robot only has 3 joints.
Pose
A pose consists of a point and an orientation:
geometry_msgs/Point position
hexapod_msgs/RPY orientation
RPY
Roll Pitch Yaw expressed as float64:
float64 roll
float64 pitch
float64 yaw