joint_state.hpp

Go to the documentation of this file.

 
namespace sensor_msgs::msg {
class JointState {
public:
    // This is a message that holds data to describe the state of a set of torque controlled joints.
    // 
    // The state of each joint (revolute or prismatic) is defined by:
    // * the position of the joint (rad or m),
    // * the velocity of the joint (rad/s or m/s) and
    // * the effort that is applied in the joint (Nm or N).
    // 
    // Each joint is uniquely identified by its name
    // The header specifies the time at which the joint states were recorded. All the joint states
    // in one message have to be recorded at the same time.
    // 
    // This message consists of a multiple arrays, one for each part of the joint state.
    // The goal is to make each of the fields optional. When e.g. your joints have no
    // effort associated with them, you can leave the effort array empty.
    // 
    // All arrays in this message should have the same size, or be empty.
    // This is the only way to uniquely associate the joint name with the correct
    // states.
 
    std_msgs::msg::Header header;
 
    std::vector<std::string> name;
    std::vector<double> position;
    std::vector<double> velocity;
    std::vector<double> effort;
};
} // namespace sensor_msgs::msg