dynamixel_msgs¶

Message types¶

• dynamixel_msgs/JointState
• dynamixel_msgs/MotorState
• dynamixel_msgs/MotorStateList

dynamixel_msgs/JointState¶

Field:	header (std_msgs/Header) – name (string) – motor_ids[] (int32) – motor_temps[] (int32) – goal_pos (float64) – current_pos (float64) – error (float64) – velocity (float64) – load (float64) – is_moving (bool) –

Header header
string name         # joint name
int32[] motor_ids   # motor ids controlling this joint
int32[] motor_temps # motor temperatures, same order as motor_ids

float64 goal_pos    # commanded position (in radians)
float64 current_pos # current joint position (in radians)
float64 error       # error between commanded and current positions (in radians)
float64 velocity    # current joint speed (in radians per second)
float64 load        # current load
bool is_moving      # is joint currently in motion

dynamixel_msgs/MotorState¶

Field:	timestamp (float64) – id (int32) – goal (int32) – position (int32) – error (int32) – speed (int32) – load (float64) – voltage (float64) – temperature (int32) – moving (bool) –

float64 timestamp   # motor state is at this time
int32 id            # motor id
int32 goal          # commanded position (in encoder units)
int32 position      # current position (in encoder units)
int32 error         # difference between current and goal positions
int32 speed         # current speed (0.111 rpm per unit)
float64 load        # current load - ratio of applied torque over maximum torque
float64 voltage     # current voltage (V)
int32 temperature   # current temperature (degrees Celsius)
bool moving         # whether the motor is currently in motion

dynamixel_msgs/MotorStateList¶

Field:	motor_states[] (dynamixel_msgs/MotorState) –

MotorState[] motor_states