# direction: downstream # destination: biomimetic core # description: configuration data #### HEADER # standard header std_msgs/Header header # message flags uint32 msg_flags # set this flag to update signals; if this message is received # without this flag set, the section "SIGNALS" is ignored. uint32 FLAG_UPDATE_SIGNALS=1 # set these flags to update some parameters only uint32 FLAG_UPDATE_CLIFF_MIN_MAX=2 #### SIGNALS # P1_W uint32 P1_W_signals # P2B_W uint32 P2B_W_signals # P2U_W.affect uint32 P2U_W_affect_signals # P2U_W.express uint32 P2U_W_express_signals # P2U_W.action uint32 P2U_W_action_signals # P2U_W.body uint32 P2U_W_body_signals # P2L_W uint32 P2L_W_signals # P2S_W uint32 P2S_W_signals #### MODEL_PARS # model_pars # # if this array is of non-zero size, it must be of size # MIRO_P2_MODEL_PARS_SIZE bytes, and is used to update the # model_pars in P2, via the bridge. std_msgs/ByteMultiArray model_pars # otherwise, individual parameters can be updated by using # these entries uint8 cliff_min uint8 cliff_max