pr2_controllers_msgs¶

Message types¶

• pr2_controllers_msgs/JointControllerState
• pr2_controllers_msgs/Pr2GripperCommand
• pr2_controllers_msgs/JointTrajectoryControllerState

pr2_controllers_msgs/JointControllerState¶

Field:	header (std_msgs/Header) – set_point (float64) – process_value (float64) – process_value_dot (float64) – error (float64) – time_step (float64) – command (float64) – p (float64) – i (float64) – d (float64) – i_clamp (float64) –

Header header
float64 set_point
float64 process_value
float64 process_value_dot
float64 error
float64 time_step
float64 command
float64 p
float64 i
float64 d
float64 i_clamp

pr2_controllers_msgs/Pr2GripperCommand¶

Field:	position (float64) – max_effort (float64) –

float64 position
float64 max_effort

pr2_controllers_msgs/JointTrajectoryControllerState¶

Field:	header (std_msgs/Header) – joint_names[] (string) – desired (trajectory_msgs/JointTrajectoryPoint) – actual (trajectory_msgs/JointTrajectoryPoint) – error (trajectory_msgs/JointTrajectoryPoint) –

Header header
string[] joint_names
trajectory_msgs/JointTrajectoryPoint desired
trajectory_msgs/JointTrajectoryPoint actual
trajectory_msgs/JointTrajectoryPoint error  # Redundant, but useful

Service types¶

• pr2_controllers_msgs/QueryCalibrationState
• pr2_controllers_msgs/QueryTrajectoryState

pr2_controllers_msgs/QueryCalibrationState¶

Field (Response):
	is_calibrated (bool) –

---
bool is_calibrated

pr2_controllers_msgs/QueryTrajectoryState¶

Field (Request):
	time (time) –
Field (Response):
	name[] (string) – position[] (float64) – velocity[] (float64) – acceleration[] (float64) –

time time
---
string[] name
float64[] position
float64[] velocity
float64[] acceleration

Action types¶

• pr2_controllers_msgs/Pr2GripperCommand
• pr2_controllers_msgs/SingleJointPosition
• pr2_controllers_msgs/JointTrajectory
• pr2_controllers_msgs/PointHead

pr2_controllers_msgs/Pr2GripperCommand¶

Field (Goal):	command (pr2_controllers_msgs/Pr2GripperCommand) –
Field (Result):	position (float64) – effort (float64) – stalled (bool) – reached_goal (bool) –
Field (Feedback):
	position (float64) – effort (float64) – stalled (bool) – reached_goal (bool) –

pr2_controllers_msgs/Pr2GripperCommand command
---
float64 position  # The current gripper gap size (in meters)
float64 effort    # The current effort exerted (in Newtons)
bool stalled      # True iff the gripper is exerting max effort and not moving
bool reached_goal # True iff the gripper position has reached the commanded setpoint
---
float64 position  # The current gripper gap size (in meters)
float64 effort    # The current effort exerted (in Newtons)
bool stalled      # True iff the gripper is exerting max effort and not moving
bool reached_goal # True iff the gripper position has reached the commanded setpoint

pr2_controllers_msgs/SingleJointPosition¶

Field (Goal):	position (float64) – min_duration (duration) – max_velocity (float64) –
Field (Feedback):
	header (std_msgs/Header) – position (float64) – velocity (float64) – error (float64) –

float64 position
duration min_duration
float64 max_velocity
---
---
Header header
float64 position
float64 velocity
float64 error

pr2_controllers_msgs/JointTrajectory¶

Field (Goal):	trajectory (trajectory_msgs/JointTrajectory) –

trajectory_msgs/JointTrajectory trajectory
---
---

pr2_controllers_msgs/PointHead¶

Field (Goal):	target (geometry_msgs/PointStamped) – pointing_axis (geometry_msgs/Vector3) – pointing_frame (string) – min_duration (duration) – max_velocity (float64) –
Field (Feedback):
	pointing_angle_error (float64) –

geometry_msgs/PointStamped target
geometry_msgs/Vector3 pointing_axis
string pointing_frame
duration min_duration
float64 max_velocity
---
---
float64 pointing_angle_error