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bdaiinstitute · Feb 20, 2025 · 04c33fc · 04c33fc
1 parent 99a8cd9
commit 04c33fc
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diff --git a/spot_msgs/CMakeLists.txt b/spot_msgs/CMakeLists.txt
@@ -52,6 +52,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/EStopState.msg"
   "msg/Feedback.msg"
   "msg/FootState.msg"
+  "msg/JointCommand.msg"
   "msg/Lease.msg"
   "msg/LeaseResource.msg"
   "msg/PowerState.msg"

diff --git a/spot_msgs/msg/JointCommand.msg b/spot_msgs/msg/JointCommand.msg
@@ -0,0 +1,12 @@
+# list of the joint names to control
+string[] name
+# desired position command for each joint
+float64[] position
+# desired velocity command for each joint
+float64[] velocity
+# desired effort command for each joint
+float64[] effort
+# desired k_q_p command for each joint
+float64[] k_q_p
+# desired k_qd_p command for each joint
+float64[] k_qd_p