control_msgs

Documentation

Overview

Package control_msgs contains message definitions.

Index

• Constants
• type FollowJointTrajectoryAction
• type FollowJointTrajectoryActionFeedback
• type FollowJointTrajectoryActionGoal
• type FollowJointTrajectoryActionResult
• type GripperCommand
• type GripperCommandAction
• type GripperCommandActionFeedback
• type GripperCommandActionGoal
• type GripperCommandActionResult
• type JointControllerState
• type JointJog
• type JointTolerance
• type JointTrajectoryAction
• type JointTrajectoryActionFeedback
• type JointTrajectoryActionGoal
• type JointTrajectoryActionResult
• type JointTrajectoryControllerState
• type PidState
• type PointHeadAction
• type PointHeadActionFeedback
• type PointHeadActionGoal
• type PointHeadActionResult
• type QueryCalibrationState
• type QueryCalibrationStateReq
• type QueryCalibrationStateRes
• type QueryTrajectoryState
• type QueryTrajectoryStateReq
• type QueryTrajectoryStateRes
• type SingleJointPositionAction
• type SingleJointPositionActionFeedback
• type SingleJointPositionActionGoal
• type SingleJointPositionActionResult

Constants

const (
	FollowJointTrajectoryActionResult_SUCCESSFUL              int32 = 0
	FollowJointTrajectoryActionResult_INVALID_GOAL            int32 = -1
	FollowJointTrajectoryActionResult_INVALID_JOINTS          int32 = -2
	FollowJointTrajectoryActionResult_OLD_HEADER_TIMESTAMP    int32 = -3
	FollowJointTrajectoryActionResult_PATH_TOLERANCE_VIOLATED int32 = -4
	FollowJointTrajectoryActionResult_GOAL_TOLERANCE_VIOLATED int32 = -5
)

Types

type FollowJointTrajectoryAction

type FollowJointTrajectoryAction struct {
	msg.Package `ros:"control_msgs"`
	FollowJointTrajectoryActionGoal
	FollowJointTrajectoryActionResult
	FollowJointTrajectoryActionFeedback
}

type FollowJointTrajectoryActionFeedback

type FollowJointTrajectoryActionFeedback struct {
	msg.Package `ros:"control_msgs"`
	Header      std_msgs.Header
	JointNames  []string
	Desired     trajectory_msgs.JointTrajectoryPoint
	Actual      trajectory_msgs.JointTrajectoryPoint
	Error       trajectory_msgs.JointTrajectoryPoint
}

type FollowJointTrajectoryActionGoal

type FollowJointTrajectoryActionGoal struct {
	msg.Package       `ros:"control_msgs"`
	Trajectory        trajectory_msgs.JointTrajectory
	PathTolerance     []JointTolerance
	GoalTolerance     []JointTolerance
	GoalTimeTolerance time.Duration
}

type FollowJointTrajectoryActionResult

type FollowJointTrajectoryActionResult struct {
	msg.Package     `ros:"control_msgs"`
	msg.Definitions `` /* 166-byte string literal not displayed */
	ErrorCode       int32
	ErrorString     string
}

type GripperCommand

type GripperCommand struct {
	msg.Package `ros:"control_msgs"`
	Position    float64
	MaxEffort   float64
}

type GripperCommandAction

type GripperCommandAction struct {
	msg.Package `ros:"control_msgs"`
	GripperCommandActionGoal
	GripperCommandActionResult
	GripperCommandActionFeedback
}

type GripperCommandActionFeedback

type GripperCommandActionFeedback struct {
	msg.Package `ros:"control_msgs"`
	Position    float64
	Effort      float64
	Stalled     bool
	ReachedGoal bool
}

type GripperCommandActionGoal

type GripperCommandActionGoal struct {
	msg.Package `ros:"control_msgs"`
	Command     GripperCommand
}

type GripperCommandActionResult

type GripperCommandActionResult struct {
	msg.Package `ros:"control_msgs"`
	Position    float64
	Effort      float64
	Stalled     bool
	ReachedGoal bool
}

type JointControllerState

type JointControllerState struct {
	msg.Package     `ros:"control_msgs"`
	Header          std_msgs.Header
	SetPoint        float64
	ProcessValue    float64
	ProcessValueDot float64
	Error           float64
	TimeStep        float64
	Command         float64
	P               float64
	I               float64
	D               float64
	IClamp          float64
	Antiwindup      bool
}

type JointJog

type JointJog struct {
	msg.Package   `ros:"control_msgs"`
	Header        std_msgs.Header
	JointNames    []string
	Displacements []float64
	Velocities    []float64
	Duration      float64
}

type JointTolerance

type JointTolerance struct {
	msg.Package  `ros:"control_msgs"`
	Name         string
	Position     float64
	Velocity     float64
	Acceleration float64
}

type JointTrajectoryAction

type JointTrajectoryAction struct {
	msg.Package `ros:"control_msgs"`
	JointTrajectoryActionGoal
	JointTrajectoryActionResult
	JointTrajectoryActionFeedback
}

type JointTrajectoryActionFeedback

type JointTrajectoryActionFeedback struct {
	msg.Package `ros:"control_msgs"`
}

type JointTrajectoryActionGoal

type JointTrajectoryActionGoal struct {
	msg.Package `ros:"control_msgs"`
	Trajectory  trajectory_msgs.JointTrajectory
}

type JointTrajectoryActionResult

type JointTrajectoryActionResult struct {
	msg.Package `ros:"control_msgs"`
}

type JointTrajectoryControllerState

type JointTrajectoryControllerState struct {
	msg.Package `ros:"control_msgs"`
	Header      std_msgs.Header
	JointNames  []string
	Desired     trajectory_msgs.JointTrajectoryPoint
	Actual      trajectory_msgs.JointTrajectoryPoint
	Error       trajectory_msgs.JointTrajectoryPoint
}

type PidState

type PidState struct {
	msg.Package `ros:"control_msgs"`
	Header      std_msgs.Header
	Timestep    time.Duration
	Error       float64
	ErrorDot    float64
	PError      float64
	IError      float64
	DError      float64
	PTerm       float64
	ITerm       float64
	DTerm       float64
	IMax        float64
	IMin        float64
	Output      float64
}

type PointHeadAction

type PointHeadAction struct {
	msg.Package `ros:"control_msgs"`
	PointHeadActionGoal
	PointHeadActionResult
	PointHeadActionFeedback
}

type PointHeadActionFeedback

type PointHeadActionFeedback struct {
	msg.Package        `ros:"control_msgs"`
	PointingAngleError float64
}

type PointHeadActionGoal

type PointHeadActionGoal struct {
	msg.Package   `ros:"control_msgs"`
	Target        geometry_msgs.PointStamped
	PointingAxis  geometry_msgs.Vector3
	PointingFrame string
	MinDuration   time.Duration
	MaxVelocity   float64
}

type PointHeadActionResult

type PointHeadActionResult struct {
	msg.Package `ros:"control_msgs"`
}

type QueryCalibrationState

type QueryCalibrationState struct {
	msg.Package `ros:"control_msgs"`
	QueryCalibrationStateReq
	QueryCalibrationStateRes
}

type QueryCalibrationStateReq

type QueryCalibrationStateReq struct {
	msg.Package `ros:"control_msgs"`
}

type QueryCalibrationStateRes

type QueryCalibrationStateRes struct {
	msg.Package  `ros:"control_msgs"`
	IsCalibrated bool
}

type QueryTrajectoryState

type QueryTrajectoryState struct {
	msg.Package `ros:"control_msgs"`
	QueryTrajectoryStateReq
	QueryTrajectoryStateRes
}

type QueryTrajectoryStateReq

type QueryTrajectoryStateReq struct {
	msg.Package `ros:"control_msgs"`
	Time        time.Time
}

type QueryTrajectoryStateRes

type QueryTrajectoryStateRes struct {
	msg.Package  `ros:"control_msgs"`
	Name         []string
	Position     []float64
	Velocity     []float64
	Acceleration []float64
}

type SingleJointPositionAction

type SingleJointPositionAction struct {
	msg.Package `ros:"control_msgs"`
	SingleJointPositionActionGoal
	SingleJointPositionActionResult
	SingleJointPositionActionFeedback
}

type SingleJointPositionActionFeedback

type SingleJointPositionActionFeedback struct {
	msg.Package `ros:"control_msgs"`
	Header      std_msgs.Header
	Position    float64
	Velocity    float64
	Error       float64
}

type SingleJointPositionActionGoal

type SingleJointPositionActionGoal struct {
	msg.Package `ros:"control_msgs"`
	Position    float64
	MinDuration time.Duration
	MaxVelocity float64
}

type SingleJointPositionActionResult

type SingleJointPositionActionResult struct {
	msg.Package `ros:"control_msgs"`
}