flexiv_ros2/flexiv_msgs/msg/RobotStates.msg at humble · flexivrobotics/flexiv_ros2 · GitHub

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# Header
std_msgs/Header header

# Robot system timestamp
builtin_interfaces/Time robot_timestamp

# Measured joint positions using link-side encoder
float64[] q

# Measured joint positions using motor-side encoder
float64[] theta

# Measured joint velocities using link-side encoder
float64[] dq

# Measured joint velocities using motor-side encoder
float64[] dtheta

# Measured joint torques
float64[] tau

# Desired joint torques
float64[] tau_des

# Numerical derivative of measured joint torques
float64[] tau_dot

# Estimated external joint torques
float64[] tau_ext

# Estimated interaction joint torques
float64[] tau_interact

# Measured joint temperatures
float64[] temperature

# Measured TCP pose expressed in world frame
geometry_msgs/PoseStamped tcp_pose

# Measured TCP velocity expressed in world frame
geometry_msgs/AccelStamped tcp_vel

# Measured flange pose expressed in world frame
geometry_msgs/PoseStamped flange_pose

# Force-torque (FT) sensor raw reading in flange frame
geometry_msgs/WrenchStamped ft_sensor_raw

# Estimated external wrench applied on TCP and expressed in TCP frame
geometry_msgs/WrenchStamped ext_wrench_in_tcp

# Estimated external wrench applied on TCP and expressed in world frame
geometry_msgs/WrenchStamped ext_wrench_in_world

# Unfiltered external wrench applied on TCP and expressed in TCP frame
geometry_msgs/WrenchStamped ext_wrench_in_tcp_raw

# Unfiltered external wrench applied on TCP and expressed in world frame
geometry_msgs/WrenchStamped ext_wrench_in_world_raw