26 lines
999 B
Plaintext
26 lines
999 B
Plaintext
# This is a message that holds data to describe the state of a set of torque controlled joints.
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#
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# The state of each joint (revolute or prismatic) is defined by:
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# * the position of the joint (rad or m),
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# * the velocity of the joint (rad/s or m/s) and
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# * the effort that is applied in the joint (Nm or N).
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#
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# Each joint is uniquely identified by its name
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# The header specifies the time at which the joint states were recorded. All the joint states
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# in one message have to be recorded at the same time.
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#
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# This message consists of a multiple arrays, one for each part of the joint state.
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# The goal is to make each of the fields optional. When e.g. your joints have no
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# effort associated with them, you can leave the effort array empty.
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#
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# All arrays in this message should have the same size, or be empty.
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# This is the only way to uniquely associate the joint name with the correct
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# states.
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std_msgs/Header header
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string[] name
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float64[] position
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float64[] velocity
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float64[] effort
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