def sendContinuousValue(self, x, y, z, theta, sensor):
walkdata = Interface()
walkdata.x = x
walkdata.y = y
walkdata.z = z
walkdata.theta = theta
walkdata.sensor_mode = sensor
self.continuous_value_pub.publish(walkdata)
def sendBodyAuto(self, x, y, z, theta, mode, sensor): #步態啟動
walkdata = Interface()
walkdata.x = x
walkdata.y = y
walkdata.z = z
walkdata.theta = theta
walkdata.walking_mode = mode
walkdata.sensor_mode = sensor
self.walkingGait_pub.publish(walkdata)