jointState QML Value Type

This is a message that holds data to describe the state of a set of torque controlled joints. More...

Properties

• effort : list<double>
• header : header
• name : list<string>
• position : list<double>
• velocity : list<double>

Detailed Description

The state of each joint (revolute or prismatic) is defined by:

• the position of the joint (rad or m),
• the velocity of the joint (rad/s or m/s) and
• the effort that is applied in the joint (Nm or N).

Each joint is uniquely identified by its name The header specifies the time at which the joint states were recorded. All the joint states in one message have to be recorded at the same time.

This message consists of a multiple arrays, one for each part of the joint state. The goal is to make each of the fields optional. When e.g. your joints have no effort associated with them, you can leave the effort array empty.

All arrays in this message should have the same size, or be empty. This is the only way to uniquely associate the joint name with the correct states.

jointState is a structured value type usable in QML. It maps directly to the sensor_msgs::msg::JointState ROS 2 message type.

Construct a jointState in QML by assigning a JavaScript object whose keys are its component properties, or by setting those properties individually.

See also JointStatePublisher and JointStateSubscriber.

Property Documentation

effort : list<double>

header : header

name : list<string>

position : list<double>

velocity : list<double>