Add LegCmd and LegCommandSender.

Author: YoujianWu

.pre-commit-config.yaml

@@ -14,7 +14,7 @@
 
 repos:
   # Standard hooks
-  - repo: https://github.com/pre-commit/pre-commit-hooks
+  - repo: git@github.com:pre-commit/pre-commit-hooks.git
     rev: v4.0.1
     hooks:
       - id: check-added-large-files
@@ -28,12 +28,12 @@ repos:
       - id: mixed-line-ending
       - id: trailing-whitespace
 
-  - repo: https://github.com/psf/black
+  - repo: git@github.com:psf/black
     rev: 20.8b1
     hooks:
       - id: black
 
-  - repo: https://github.com/Lucas-C/pre-commit-hooks-markup
+  - repo: git@github.com:Lucas-C/pre-commit-hooks-markup
     rev: v1.0.1
     hooks:
       - id: rst-linter

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:

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

rm_msgs/msg/LegCmd.msg

@@ -0,0 +1,4 @@
+bool jump
+float64 leg_length
+
+time stamp