File: intera_core_msgs/JointCommand.msg
Raw Message Definition
Header header
int32 mode # Mode in which to command arm
string[] names # Joint names order for command
# Fields of commands indexed according to the Joint names vector.
# Command fields required for a desired mode are listed in the comments
float64[] position # (radians) Required for POSITION_MODE and TRAJECTORY_MODE
float64[] velocity # (radians/sec) Required for VELOCITY_MODE and TRAJECTORY_MODE
float64[] acceleration # (radians/sec^2) Required for TRAJECTORY_MODE
float64[] effort # (newton-meters) Required for TORQUE_MODE
# Modes available to command arm
int32 POSITION_MODE=1
int32 VELOCITY_MODE=2
int32 TORQUE_MODE=3
int32 TRAJECTORY_MODE=4
Compact Message Definition
int32 POSITION_MODE=1
int32 VELOCITY_MODE=2
int32 TORQUE_MODE=3
int32 TRAJECTORY_MODE=4
std_msgs/Header header
int32 mode
string[] names
float64[] position
float64[] velocity
float64[] acceleration
float64[] effort