wpi_jaco_msgs¶

Message types¶

• wpi_jaco_msgs/JacoFingerVel
• wpi_jaco_msgs/CartesianCommand
• wpi_jaco_msgs/AngularCommand

wpi_jaco_msgs/JacoFingerVel¶

Field:	finger1Vel (float32) – finger2Vel (float32) – finger3Vel (float32) –

float32 finger1Vel  # velocity for thumb
float32 finger2Vel  # velocity for top finger
float32 finger3Vel  # velocity for bottom finger

wpi_jaco_msgs/CartesianCommand¶

Field:	position (bool) – armCommand (bool) – fingerCommand (bool) – repeat (bool) – arm (geometry_msgs/Twist) – fingers[] (float32) –

bool position             # true for a position command, false for a velocity command
bool armCommand           # true if this command includes arm joint inputs
bool fingerCommand        # true if this command includes finger inputs
bool repeat               # true if the command should be repeatedly sent over a short interval
geometry_msgs/Twist arm   # position (m, rad) or velocity (m/s, rad/s) arm command
float32[] fingers         # position (rad) or velocity (rad/s) finger command

wpi_jaco_msgs/AngularCommand¶

Field:	position (bool) – armCommand (bool) – fingerCommand (bool) – repeat (bool) – joints[] (float32) – fingers[] (float32) –

bool position       # true for a position command, false for a velocity command
bool armCommand     # true if this command includes arm joint inputs
bool fingerCommand  # true if this command includes finger inputs
bool repeat         # true if the command should be repeatedly sent over a short interval
float32[] joints    # position (rad) or velocity (rad/s) arm command
float32[] fingers   # position (rad) or velocity (rad/s) finger command

Service types¶

• wpi_jaco_msgs/GetCartesianPosition
• wpi_jaco_msgs/GetAngularPosition
• wpi_jaco_msgs/EulerToQuaternion
• wpi_jaco_msgs/EStop
• wpi_jaco_msgs/JacoFK
• wpi_jaco_msgs/QuaternionToEuler

wpi_jaco_msgs/GetCartesianPosition¶

Field (Response):
	pos (geometry_msgs/Twist) –

---
geometry_msgs/Twist pos		# position (m, rad) of the end effector

wpi_jaco_msgs/GetAngularPosition¶

Field (Response):
	pos[] (float32) –

---
float32[] pos		# position (rad) of the arm and finger joints

wpi_jaco_msgs/EulerToQuaternion¶

Field (Request):
	roll (float32) – pitch (float32) – yaw (float32) –
Field (Response):
	orientation (geometry_msgs/Quaternion) –

float32 roll                            # Rotation about x axis (rad)
float32 pitch                           # Rotation about y axis (rad)
float32 yaw                             # Rotation about z axis (rad)
---
geometry_msgs/Quaternion orientation    # Quaternion representation of rotation

wpi_jaco_msgs/EStop¶

Field (Request):
	enableEStop (bool) –
Field (Response):
	success (bool) –

bool enableEStop   # true if the software emergency stop should be enabled, false otherwise
---
bool success       # true if successfully stopped or re-enabled

wpi_jaco_msgs/JacoFK¶

Field (Request):
	joints[] (float32) –
Field (Response):
	handPose (geometry_msgs/PoseStamped) –

float32[] joints                      # positions of joints (rad)
---
geometry_msgs/PoseStamped handPose    # End effector pose (m, rad)

wpi_jaco_msgs/QuaternionToEuler¶

Field (Request):
	orientation (geometry_msgs/Quaternion) –
Field (Response):
	roll (float32) – pitch (float32) – yaw (float32) –

geometry_msgs/Quaternion orientation    # Quaternion representation of raotation
---
float32 roll                            # Rotation about x-axis (rad)
float32 pitch                           # Rotation about y-axis (rad)
float32 yaw                             # Rotation about z-axis (rad)

Action types¶

• wpi_jaco_msgs/HomeArm

wpi_jaco_msgs/HomeArm¶

Field (Goal):	retract (bool) – retractPosition (wpi_jaco_msgs/AngularCommand) – numAttempts (int16) –
Field (Result):	success (bool) –

Define the goal

# Define the goal
bool retract                                  # set to true to retract arm to a given position after moving home
wpi_jaco_msgs/AngularCommand retractPosition  # position to which the arm should retract (only if retract is true)
int16 numAttempts                                # attempts for moving to given joint pose (only used in motion planning versions)
---
# Define the result
bool success                                  # true if arm move was successful
---
# Define feedback message