joint_qualification_controllers¶

Message types¶

• joint_qualification_controllers/CounterbalanceTestData
• joint_qualification_controllers/WristRollTurn
• joint_qualification_controllers/CBPositionData
• joint_qualification_controllers/CBRunData
• joint_qualification_controllers/RobotData
• joint_qualification_controllers/HysteresisData
• joint_qualification_controllers/HysteresisRun
• joint_qualification_controllers/ActuatorData
• joint_qualification_controllers/JointData
• joint_qualification_controllers/WristDiffData
• joint_qualification_controllers/HysteresisData2
• joint_qualification_controllers/JointPositionData

joint_qualification_controllers/CounterbalanceTestData¶

Field:	lift_joint (string) – flex_joint (string) – lift_amplitude (float32) – flex_amplitude (float32) – timeout_hit (bool) – flex_test (bool) – arg_name[] (string) – arg_value[] (float32) – lift_data[] (joint_qualification_controllers/CBRunData) –

string lift_joint
string flex_joint
float32 lift_amplitude
float32 flex_amplitude
bool timeout_hit
bool flex_test
string[] arg_name
float32[] arg_value
CBRunData[] lift_data # Data for each hold

joint_qualification_controllers/WristRollTurn¶

Field:	time[] (float32) – flex_position[] (float32) – flex_effort[] (float32) – flex_cmd[] (float32) – roll_position[] (float32) – roll_effort[] (float32) – roll_cmd[] (float32) – roll_velocity[] (float32) –

float32[] time
float32[] flex_position
float32[] flex_effort
float32[] flex_cmd
float32[] roll_position
float32[] roll_effort
float32[] roll_cmd
float32[] roll_velocity

joint_qualification_controllers/CBPositionData¶

Field:	flex_position (float32) – lift_hold (joint_qualification_controllers/JointPositionData) – flex_hold (joint_qualification_controllers/JointPositionData) –

float32 flex_position
JointPositionData lift_hold
JointPositionData flex_hold

joint_qualification_controllers/CBRunData¶

Field:	lift_position (float32) – flex_data[] (joint_qualification_controllers/CBPositionData) –

float32 lift_position
CBPositionData[] flex_data # Same lift position, diff flex positions

joint_qualification_controllers/RobotData¶

Field:	test_time (float32) – timeout (bool) – num_joints (int32) – num_actuators (int32) – joint_data[] (joint_qualification_controllers/JointData) – actuator_data[] (joint_qualification_controllers/ActuatorData) –

float32 test_time
bool timeout
int32 num_joints
int32 num_actuators
JointData[] joint_data
ActuatorData[] actuator_data

joint_qualification_controllers/HysteresisData¶

Field:	joint_name (string) – time_up[] (float32) – effort_up[] (float32) – position_up[] (float32) – velocity_up[] (float32) – time_down[] (float32) – effort_down[] (float32) – position_down[] (float32) – velocity_down[] (float32) – arg_name[] (string) – arg_value[] (float32) –

string joint_name

float32[] time_up
float32[] effort_up
float32[] position_up
float32[] velocity_up

float32[] time_down
float32[] effort_down
float32[] position_down
float32[] velocity_down

string[] arg_name
float32[] arg_value

joint_qualification_controllers/HysteresisRun¶

Field:	time[] (float32) – effort[] (float32) – position[] (float32) – velocity[] (float32) – dir (uint8) –
Constant:	UP (uint8):0 – DOWN (uint8):1 –

float32[] time
float32[] effort
float32[] position
float32[] velocity
uint8 dir
uint8 UP=0
uint8 DOWN=1

joint_qualification_controllers/ActuatorData¶

Field:	index (int16) – name (string) – id (int16) –

int16 index
string name
int16 id

joint_qualification_controllers/JointData¶

Field:	index (int16) – name (string) – is_cal (byte) – has_safety (byte) – type (string) –

int16 index
string name
byte is_cal
byte has_safety
string type

joint_qualification_controllers/WristDiffData¶

Field:	flex_joint (string) – roll_joint (string) – flex_pid[] (float32) – roll_pid[] (float32) – arg_name[] (string) – arg_value[] (float32) – left_turn (joint_qualification_controllers/WristRollTurn) – right_turn (joint_qualification_controllers/WristRollTurn) – timeout (bool) –

string flex_joint
string roll_joint
float32[] flex_pid
float32[] roll_pid
string[] arg_name
float32[] arg_value
WristRollTurn left_turn
WristRollTurn right_turn
bool timeout

joint_qualification_controllers/HysteresisData2¶

Field:	joint_name (string) – runs[] (joint_qualification_controllers/HysteresisRun) – arg_name[] (string) – arg_value[] (float32) –

string joint_name

HysteresisRun[] runs

string[] arg_name
float32[] arg_value

joint_qualification_controllers/JointPositionData¶

Field:	time[] (float32) – position[] (float32) – velocity[] (float32) – effort[] (float32) –

float32[] time
float32[] position
float32[] velocity
float32[] effort