From 312eaaa626faa2dbcb4fcb470fb4d60306f3fe93 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Sat, 9 Apr 2022 18:21:50 +0900 Subject: [PATCH] Fix postion -> position in HighCmd.msg --- unitree_legged_msgs/msg/HighCmd.msg | 4 ++-- unitree_legged_real/include/convert.h | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/unitree_legged_msgs/msg/HighCmd.msg b/unitree_legged_msgs/msg/HighCmd.msg index e61b29e..a2d2ed1 100644 --- a/unitree_legged_msgs/msg/HighCmd.msg +++ b/unitree_legged_msgs/msg/HighCmd.msg @@ -22,7 +22,7 @@ uint8 gaitType # 0.idle 1.trot 2.trot running 3.climb stair uint8 speedLevel # 0. default low speed. 1. medium speed 2. high speed. during walking, only respond MODE 3 float32 footRaiseHeight # (unit: m, default: 0.08m), foot up height while walking float32 bodyHeight # (unit: m, default: 0.28m), -float32[2] postion # (unit: m), desired position in inertial frame +float32[2] position # (unit: m), desired position in inertial frame float32[3] euler # (unit: rad), roll pitch yaw in stand mode float32[2] velocity # (unit: m/s), forwardSpeed, sideSpeed in body frame float32 yawSpeed # (unit: rad/s), rotateSpeed in body frame @@ -30,4 +30,4 @@ BmsCmd bms LED[4] led uint8[40] wirelessRemote uint32 reserve # Old version Aliengo does not have -int32 crc \ No newline at end of file +int32 crc diff --git a/unitree_legged_real/include/convert.h b/unitree_legged_real/include/convert.h index f51cce5..abc126c 100755 --- a/unitree_legged_real/include/convert.h +++ b/unitree_legged_real/include/convert.h @@ -208,7 +208,7 @@ UNITREE_LEGGED_SDK::HighCmd ToLcm(unitree_legged_msgs::HighCmd& ros, UNITREE_LEG lcm.crc = ros.crc; for(int i(0); i<2; ++i){ - lcm.postion[i] = ros.postion[i]; + lcm.position[i] = ros.position[i]; lcm.velocity[i] = ros.velocity[i]; } @@ -229,4 +229,4 @@ UNITREE_LEGGED_SDK::HighCmd ToLcm(unitree_legged_msgs::HighCmd& ros, UNITREE_LEG return lcm; } -#endif // _CONVERT_H_ \ No newline at end of file +#endif // _CONVERT_H_