MultiDOFJointStatePublisher QML Type

Publishes sensor_msgs::msg::MultiDOFJointState messages — 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...

• List of all members, including inherited members

Properties

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

Methods

• void publish(multiDOFJointState msg)

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.

MultiDOFJointStatePublisher publishes multiDOFJointState values to a ROS 2 topic. Set the topic and node properties, then call publish() to send messages.

See also MultiDOFJointStateSubscriber and multiDOFJointState.

Property Documentation

header : header

The header field value included in the next publish. Setting this property emits headerChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

jointNames : list<string>

The jointNames field value included in the next publish. Setting this property emits jointNamesChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

transforms : list<transform>

The transforms field value included in the next publish. Setting this property emits transformsChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

twist : list<twist>

The twist field value included in the next publish. Setting this property emits twistChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

wrench : list<wrench>

The wrench field value included in the next publish. Setting this property emits wrenchChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

Method Documentation

void publish(multiDOFJointState msg)

Publishes multiDOFJointState msg to the ROS 2 topic set by the topic property. Does nothing if the publisher is not connected.