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Fix postion -> position in HighCmd.msg #27

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Fix postion -> position in HighCmd.msg #27

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4 changes: 2 additions & 2 deletions unitree_legged_msgs/msg/HighCmd.msg
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Original file line number Diff line number Diff line change
Expand Up @@ -22,12 +22,12 @@ 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
BmsCmd bms
LED[4] led
uint8[40] wirelessRemote
uint32 reserve # Old version Aliengo does not have
int32 crc
int32 crc
4 changes: 2 additions & 2 deletions unitree_legged_real/include/convert.h
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Expand Up @@ -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];
}

Expand All @@ -229,4 +229,4 @@ UNITREE_LEGGED_SDK::HighCmd ToLcm(unitree_legged_msgs::HighCmd& ros, UNITREE_LEG
return lcm;
}

#endif // _CONVERT_H_
#endif // _CONVERT_H_