struct Command

Declaration

struct Command { /* full declaration omitted */ };

Description

Robot command, sent by `uri manager` on {name}/command. Only the vector matching the robot's `controller.mode` is filled.

Declared at: robot_comm/include/robot_comm/serialization/Messages.h:84

Member Variables

public double kp

Reserved.

public double kd

Reserved.

public std::vector<double> position

Joint positions [rad].

public std::vector<double> velocity

Joint velocities [rad/s].

public std::vector<double> torque

Joint torques [Nm].

public uint64_t stateStamp = 0

State::stamp of the latest state the manager had received (0 = none yet).

public uint64_t stateHold = 0

How long [ns] the manager held that state before sending this command. The interface measures the round trip as now - stateStamp - stateHold.