robot_mechanism_controllers¶

Contents:

Summary
Types
- Message types

Summary ¶

robot_mechanism_controllers¶

BuildtoolDepends:
Version:	1.10.13
Description:	Generic Mechanism Controller Library
Maintainers:	Devon Ash <dash AT clearpathrobotics DOT com>
Licenses:	BSD
Urls:	website<http://ros.org/wiki/robot_mechanism_controllers>
Authors:	John Hsu Melonee Wise Stuart Glaser
BuildDepends:	`roscpp` `angles` `filters` `tf` `tf_conversions` `eigen_conversions` `pluginlib` `actionlib` `std_msgs` `geometry_msgs` `diagnostic_msgs` `trajectory_msgs` `pr2_controllers_msgs` `pr2_controller_interface` `pr2_controller_manager` `kdl_parser` `pr2_mechanism_model` `control_toolbox` `realtime_tools` `message_filters` `control_msgs` `libtool`
	`catkin`
BuildExportDepends:
	`rospy` `roscpp` `angles` `filters` `tf` `tf_conversions` `eigen_conversions` `pluginlib` `actionlib` `std_msgs` `geometry_msgs` `diagnostic_msgs` `trajectory_msgs` `pr2_controllers_msgs` `pr2_controller_interface` `pr2_controller_manager` `kdl_parser` `pr2_mechanism_model` `control_toolbox` `realtime_tools` `message_filters` `control_msgs` `libtool`
ExecDepends:	`rospy` `roscpp` `angles` `filters` `tf` `tf_conversions` `eigen_conversions` `pluginlib` `actionlib` `std_msgs` `geometry_msgs` `diagnostic_msgs` `trajectory_msgs` `pr2_controllers_msgs` `pr2_controller_interface` `pr2_controller_manager` `kdl_parser` `pr2_mechanism_model` `control_toolbox` `realtime_tools` `message_filters` `control_msgs` `libtool`
Exports:	<cpp cflags=”-I${prefix}/include -I${prefix}/msg/cpp -I${prefix}/srv/cpp” lflags=”-Wl,-rpath,${prefix}/lib/ -L${prefix}/lib -lrobot_mechanism_controllers”/> <pr2_controller_interface plugin=”${prefix}/controller_plugins.xml”/>

Types ¶

Message types ¶

robot_mechanism_controllers/JTCartesianControllerState

robot_mechanism_controllers/JTCartesianControllerState¶

Field:

header (std_msgs/Header) –
x (geometry_msgs/PoseStamped) –
x_desi (geometry_msgs/PoseStamped) –
x_desi_filtered (geometry_msgs/PoseStamped) –
x_err (geometry_msgs/Twist) –
xd (geometry_msgs/Twist) –
xd_desi (geometry_msgs/Twist) –
F (geometry_msgs/Wrench) –
tau_pose[] (float64) –
tau_posture[] (float64) –
tau[] (float64) –
J (std_msgs/Float64MultiArray) –
N (std_msgs/Float64MultiArray) –

Header header
geometry_msgs/PoseStamped x
geometry_msgs/PoseStamped x_desi
geometry_msgs/PoseStamped x_desi_filtered
geometry_msgs/Twist x_err
geometry_msgs/Twist xd
geometry_msgs/Twist xd_desi
geometry_msgs/Wrench F
float64[] tau_pose
float64[] tau_posture
float64[] tau
std_msgs/Float64MultiArray J
std_msgs/Float64MultiArray N

robot_mechanism_controllers¶

Summary¶

Types¶

Message types¶

Summary ¶

Types ¶

Message types ¶