JointTrajectoryPointPublisher QML Type

Publishes trajectory_msgs::msg::JointTrajectoryPoint messages — Each trajectory point specifies either positions[, velocities[, accelerations]] or positions[, effort] for the trajectory to be executed. More...

• List of all members, including inherited members

Properties

• accelerations : list<double>
• effort : list<double>
• positions : list<double>
• timeFromStart : duration
• velocities : list<double>

Methods

• void publish(jointTrajectoryPoint msg)

Detailed Description

All specified values are in the same order as the joint names in JointTrajectory.msg.

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

See also JointTrajectoryPointSubscriber and jointTrajectoryPoint.

Property Documentation

accelerations : list<double>

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

effort : list<double>

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

positions : list<double>

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

timeFromStart : duration

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

velocities : list<double>

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

Method Documentation

void publish(jointTrajectoryPoint msg)

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