Hubo ROS API

Hubo Message types

JointControllerState.msg

std_msgs/Header header
string joint_name
float64 set_point
float64 process_value
float64 process_value_dot
float64 error
float64 time_step
float64 command
float64 p
float64 i
float64 d
float64 i_clamp

JointCommandState.msg

std_msgs/Header header
string[] joint_names
hubo_msgs/JointControllerState[] state

JointTrajectoryState.msg

std_msgs/Header header
string[] joint_names
trajectory_msgs/JointTrajectoryPoint desired
trajectory_msgs/JointTrajectoryPoint actual
trajectory_msgs/JointTrajectoryPoint error

JointCommand.msg

std_msgs/Header header
string[] joint_names
trajectory_msgs/JointTrajectoryPoint command

JointCommandAction.action

# goal definition
hubo_msgs/JointCommand command
---
# result definition
hubo_msgs/JointCommandState end_state
---
# feedback definition
hubo_msgs/JointCommandState state

JointTrajectoryAction.action

# goal definition
trajectory_msgs/JointTrajectory trajectory
---
# result definition
hubo_msgs/JointTrajectoryState end_state
---
# feedback definition
hubo_msgs/JointTrajectoryState state