Merge pull request #242 from YoujianWu/leg_cmd

Add LegCommandSender.
rm-controls · Sep 29, 2024 · 16c0838 · 16c0838
2 parents 4bf9a58 + 2697d1a
commit 16c0838
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diff --git a/rm_common/include/rm_common/decision/command_sender.h b/rm_common/include/rm_common/decision/command_sender.h
@@ -51,6 +51,7 @@
 #include <rm_msgs/GameRobotHp.h>
 #include <rm_msgs/StatusChangeRequest.h>
 #include <rm_msgs/ShootData.h>
+#include <rm_msgs/LegCmd.h>
 #include <geometry_msgs/TwistStamped.h>
 #include <sensor_msgs/JointState.h>
 #include <nav_msgs/Odometry.h>
@@ -564,6 +565,32 @@ class BalanceCommandSender : public CommandSenderBase<std_msgs::UInt8>
   void setZero() override{};
 };
 
+class LegCommandSender : public CommandSenderBase<rm_msgs::LegCmd>
+{
+public:
+  explicit LegCommandSender(ros::NodeHandle& nh) : CommandSenderBase<rm_msgs::LegCmd>(nh)
+  {
+  }
+
+  void setJump(bool jump)
+  {
+    msg_.jump = jump;
+  }
+  void setLgeLength(double length)
+  {
+    msg_.leg_length = length;
+  }
+  bool getJump()
+  {
+    return msg_.jump;
+  }
+  double getLgeLength()
+  {
+    return msg_.leg_length;
+  }
+  void setZero() override{};
+};
+
 class Vel3DCommandSender : public HeaderStampCommandSenderBase<geometry_msgs::TwistStamped>
 {
 public:

diff --git a/rm_msgs/CMakeLists.txt b/rm_msgs/CMakeLists.txt
@@ -22,6 +22,7 @@ add_message_files(
         GimbalCmd.msg
         GimbalDesError.msg
         GimbalPosState.msg
+        LegCmd.msg
         LpData.msg
         LocalHeatState.msg
         KalmanData.msg

diff --git a/rm_msgs/msg/LegCmd.msg b/rm_msgs/msg/LegCmd.msg
@@ -0,0 +1,2 @@
+bool jump
+float64 leg_length