jsk_gui_msgs¶

Message types¶

• jsk_gui_msgs/DeviceSensor
• jsk_gui_msgs/Tablet
• jsk_gui_msgs/Touch
• jsk_gui_msgs/Gravity
• jsk_gui_msgs/TouchEvent
• jsk_gui_msgs/VoiceMessage
• jsk_gui_msgs/AndroidSensor
• jsk_gui_msgs/MagneticField
• jsk_gui_msgs/Action
• jsk_gui_msgs/MultiTouch

jsk_gui_msgs/DeviceSensor¶

Field:	temperature (float64) – relative_humidity (float64) – light (float64) – pressure (float64) – proximity (float64) –

float64 temperature
float64 relative_humidity
float64 light
float64 pressure
float64 proximity

jsk_gui_msgs/Tablet¶

Field:	header (std_msgs/Header) – hardware_name (string) – hardware_id (string) – action (jsk_gui_msgs/Action) – sensor (jsk_gui_msgs/DeviceSensor) – touches[] (jsk_gui_msgs/Touch) –

Header header
# hardware_namel: iPad, Android, other mobile
string hardware_name
string hardware_id
Action action
DeviceSensor sensor
Touch[] touches

jsk_gui_msgs/Touch¶

Field:	finger_id (int64) – x (float64) – y (float64) – image_width (int64) – image_height (int64) –

finger_id

# finger_id
int64 finger_id
# touch point(screen point)
float64 x
float64 y
# based image size (usually not needed)
int64 image_width
int64 image_height

jsk_gui_msgs/Gravity¶

Field:	gravity (geometry_msgs/Vector3) –

geometry_msgs/Vector3 gravity

jsk_gui_msgs/TouchEvent¶

Constant:	DOWN (byte):0 – UP (byte):1 – MOVE (byte):2 –
Field:	state (byte) – x (float32) – y (float32) – w (float32) – h (float32) –

byte DOWN=0
byte UP=1
byte MOVE=2

byte state
float32 x
float32 y
float32 w
float32 h

jsk_gui_msgs/VoiceMessage¶

Field:	texts[] (string) –

string[] texts

jsk_gui_msgs/AndroidSensor¶

Field:	accel_x (float64) – accel_y (float64) – accel_z (float64) – orientation_x (float64) – orientation_y (float64) – orientation_z (float64) –

sonsor for Tablet

# sonsor for Tablet
float64 accel_x
float64 accel_y
float64 accel_z
float64 orientation_x
float64 orientation_y
float64 orientation_z

jsk_gui_msgs/MagneticField¶

Field:	magneticfield (geometry_msgs/Vector3) –

geometry_msgs/Vector3 magneticfield

jsk_gui_msgs/Action¶

Constant:	RARMID (byte):0 – LARMID (byte):1 –
Field:	task_name (string) – arm_id (int64) – state (string) – state_value (float64) – direction (string) – direction_value (float64) – touch_x (int64) – touch_y (int64) –

byte RARMID=0
byte LARMID=1

# task: push, pick, open, slide, MoveNeck, MoveBase
string task_name

# selection: button names
# string selection_name

# arm: :rarm, :lsrm
int64 arm_id

# state of touch: touch, pick, pinch, sweep
# for debugging
string state
# value of state
float64 state_value

# direction: up, down, left, right
string direction
# value of direction, degree
float64 direction_value

int64 touch_x
int64 touch_y

# Example
#  push: touches[0].x, touches[0].y, task_name, arm_id
#  open: touches[0 1 2].x, touches[0 1 2].y, task_name, arm_id
#  slide: touches[0 1 2].x, touches[0 1 2].y, task_name, arm_id
#  move_neck: task_name, direction, direction_value
#  move_base: task_name, direction, direction_value

jsk_gui_msgs/MultiTouch¶

Field:	touches[] (jsk_gui_msgs/Touch) –

Touch[] touches

Service types¶

• jsk_gui_msgs/Query

jsk_gui_msgs/Query¶

Field (Request):
	id (int32) –
Field (Response):
	res (string) –

int32 id
---
string res