multiDOFJointState QML Value Type

Representation of state for joints with multiple degrees of freedom, following the structure of JointState which can only represent a single degree of freedom. More...

Properties

• header : header
• jointNames : list<string>
• transforms : list<transform>
• twist : list<twist>
• wrench : list<wrench>

Detailed Description

It is assumed that a joint in a system corresponds to a transform that gets applied along the kinematic chain. For example, a planar joint (as in URDF) is 3DOF (x, y, yaw) and those 3DOF can be expressed as a transformation matrix, and that transformation matrix can be converted back to (x, y, yaw)

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 wrench associated with them, you can leave the wrench 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.

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

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

See also MultiDOFJointStatePublisher and MultiDOFJointStateSubscriber.

Property Documentation

header : header

jointNames : list<string>

transforms : list<transform>

twist : list<twist>

wrench : list<wrench>