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Fix postion -> position in HighCmd.msg

This commit is contained in:
Koki Shinjo 2022-04-09 18:21:50 +09:00
parent 3c0fe3c97d
commit 312eaaa626
2 changed files with 4 additions and 4 deletions
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4
unitree_legged_msgs/msg/HighCmd.msg
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@ -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 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 footRaiseHeight # (unit: m, default: 0.08m), foot up height while walking
float32 bodyHeight # (unit: m, default: 0.28m), 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[3] euler # (unit: rad), roll pitch yaw in stand mode
float32[2] velocity # (unit: m/s), forwardSpeed, sideSpeed in body frame float32[2] velocity # (unit: m/s), forwardSpeed, sideSpeed in body frame
float32 yawSpeed # (unit: rad/s), rotateSpeed in body frame float32 yawSpeed # (unit: rad/s), rotateSpeed in body frame
@ -30,4 +30,4 @@ BmsCmd bms
LED[4] led LED[4] led
uint8[40] wirelessRemote uint8[40] wirelessRemote
uint32 reserve # Old version Aliengo does not have uint32 reserve # Old version Aliengo does not have
int32 crc int32 crc

4
unitree_legged_real/include/convert.h
View File

@ -208,7 +208,7 @@ UNITREE_LEGGED_SDK::HighCmd ToLcm(unitree_legged_msgs::HighCmd& ros, UNITREE_LEG
lcm.crc = ros.crc; lcm.crc = ros.crc;
for(int i(0); i<2; ++i){ 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]; lcm.velocity[i] = ros.velocity[i];
} }
@ -229,4 +229,4 @@ UNITREE_LEGGED_SDK::HighCmd ToLcm(unitree_legged_msgs::HighCmd& ros, UNITREE_LEG
return lcm; return lcm;
} }
#endif // _CONVERT_H_ #endif // _CONVERT_H_