brics_actuator¶

Message types¶

• brics_actuator/JointPositions
• brics_actuator/JointTorques
• brics_actuator/CartesianWrench
• brics_actuator/JointValue
• brics_actuator/JointImpedances
• brics_actuator/JointVelocities
• brics_actuator/CartesianVector
• brics_actuator/Poison
• brics_actuator/JointConstraint
• brics_actuator/JointAccelerations
• brics_actuator/CartesianTwist
• brics_actuator/CartesianPose

brics_actuator/JointPositions¶

Field:	poisonStamp (brics_actuator/Poison) – positions[] (brics_actuator/JointValue) –

Poison poisonStamp
JointValue[] positions

brics_actuator/JointTorques¶

Field:	poisonStamp (brics_actuator/Poison) – torques[] (brics_actuator/JointValue) –

Poison poisonStamp
JointValue[] torques

brics_actuator/CartesianWrench¶

Field:	timeStamp (time) – poisonStamp (brics_actuator/Poison) – base_frame_uri (string) – target_frame_uri (string) – force (brics_actuator/CartesianVector) – torque (brics_actuator/CartesianVector) –

time timeStamp
Poison poisonStamp
string base_frame_uri
string target_frame_uri
# need some more frames?	
CartesianVector force
CartesianVector torque	

brics_actuator/JointValue¶

Field:	timeStamp (time) – joint_uri (string) – unit (string) – value (float64) –

time timeStamp 		#time of the data 
string joint_uri
string unit 		#if empy expects si units, you can use boost::unit
float64 value

brics_actuator/JointImpedances¶

Field:	poisonStamp (brics_actuator/Poison) – dampings[] (brics_actuator/JointValue) – stiffnesses[] (brics_actuator/JointValue) –

Poison poisonStamp
JointValue[] dampings
JointValue[] stiffnesses

brics_actuator/JointVelocities¶

Field:	poisonStamp (brics_actuator/Poison) – velocities[] (brics_actuator/JointValue) –

Poison poisonStamp
JointValue[] velocities

brics_actuator/CartesianVector¶

Field:	unit (string) – x (float64) – y (float64) – z (float64) –

string unit
float64 x
float64 y
float64 z

brics_actuator/Poison¶

Field:	originator (string) – description (string) – qos (float32) –

string originator 		# node id
string description 		# encoding still an issue
float32 qos			# reliability of the channel
				# 0..1 where 1 means healthy

brics_actuator/JointConstraint¶

Field:	type (string) – value (brics_actuator/JointValue) –

string type  		#smaller, greater, equal or <, >, =
JointValue value

brics_actuator/JointAccelerations¶

Field:	poisonStamp (brics_actuator/Poison) – accelerations[] (brics_actuator/JointValue) –

Poison poisonStamp
JointValue[] accelerations

brics_actuator/CartesianTwist¶

Field:	timeStamp (time) – poisonStamp (brics_actuator/Poison) – base_frame_uri (string) – target_frame_uri (string) – translation (brics_actuator/CartesianVector) – rotation (brics_actuator/CartesianVector) –

time timeStamp
Poison poisonStamp
string base_frame_uri
string target_frame_uri
# need some more frames?	
CartesianVector translation 
CartesianVector rotation

brics_actuator/CartesianPose¶

Field:	timeStamp (time) – poisonStamp (brics_actuator/Poison) – base_frame_uri (string) – target_frame_uri (string) – position (brics_actuator/CartesianVector) – orientation (geometry_msgs/Quaternion) –

time timeStamp
Poison poisonStamp
string base_frame_uri
string target_frame_uri
CartesianVector position
geometry_msgs/Quaternion orientation