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21 lines
527 B
21 lines
527 B
# This message describes the state of an actuated 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 joint name
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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),
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# * the acceleration of the joint (rad/s^2 or m/s^2), 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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# Name of the joint
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string name
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# States of the joint
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float64 position
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float64 velocity
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float64 acceleration
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float64 effort
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