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