pr2_mechanism_controllers¶

Message types¶

• pr2_mechanism_controllers/BaseControllerState2
• pr2_mechanism_controllers/BaseControllerState
• pr2_mechanism_controllers/TrackLinkCmd
• pr2_mechanism_controllers/BaseOdometryState
• pr2_mechanism_controllers/Odometer
• pr2_mechanism_controllers/DebugInfo
• pr2_mechanism_controllers/OdometryMatrix

pr2_mechanism_controllers/BaseControllerState2¶

Field:	command (geometry_msgs/Twist) – joint_command[] (float64) – joint_error[] (float64) – joint_velocity_commanded[] (float64) – joint_velocity_measured[] (float64) – joint_effort_measured[] (float64) – joint_effort_commanded[] (float64) – joint_effort_error[] (float64) – joint_names[] (string) –

geometry_msgs/Twist command
float64[] joint_command
float64[] joint_error
float64[] joint_velocity_commanded
float64[] joint_velocity_measured
float64[] joint_effort_measured
float64[] joint_effort_commanded
float64[] joint_effort_error
string[] joint_names

pr2_mechanism_controllers/BaseControllerState¶

Field:	command (geometry_msgs/Twist) – joint_velocity_measured[] (float64) – joint_velocity_commanded[] (float64) – joint_velocity_error[] (float64) – joint_effort_measured[] (float64) – joint_effort_commanded[] (float64) – joint_effort_error[] (float64) – joint_names[] (string) –

geometry_msgs/Twist command
float64[] joint_velocity_measured
float64[] joint_velocity_commanded
float64[] joint_velocity_error
float64[] joint_effort_measured
float64[] joint_effort_commanded
float64[] joint_effort_error
string[] joint_names

pr2_mechanism_controllers/TrackLinkCmd¶

Field:	enable (int8) – link_name (string) – point (geometry_msgs/Point) –

int8 enable
string link_name
geometry_msgs/Point point

pr2_mechanism_controllers/BaseOdometryState¶

Field:	velocity (geometry_msgs/Twist) – wheel_link_names[] (string) – drive_constraint_errors[] (float64) – longitudinal_slip_constraint_errors[] (float64) –

geometry_msgs/Twist velocity
string[] wheel_link_names
float64[] drive_constraint_errors
float64[] longitudinal_slip_constraint_errors

pr2_mechanism_controllers/Odometer¶

Field:	distance (float64) – angle (float64) –

float64 distance #total distance traveled (meters)
float64 angle #total angle traveled (radians)

pr2_mechanism_controllers/DebugInfo¶

Field:	timing[] (float64) – sequence (int32) – input_valid (bool) – residual (float64) –

float64[] timing
int32 sequence
bool input_valid
float64 residual

pr2_mechanism_controllers/OdometryMatrix¶

Field:	m[] (float64) –

float64[] m

Service types¶

• pr2_mechanism_controllers/SetProfile

pr2_mechanism_controllers/SetProfile¶

Field (Request):
	UpperTurnaround (float64) – LowerTurnaround (float64) – upperDecelBuffer (float64) – lowerDecelBuffer (float64) – profile (float64) – period (float64) – amplitude (float64) – offset (float64) –
Field (Response):
	time (float64) –

float64 UpperTurnaround
float64 LowerTurnaround
float64 upperDecelBuffer
float64 lowerDecelBuffer
float64 profile
float64 period
float64 amplitude
float64 offset
---
float64 time