JointState
The state of a single joint (revolute or prismatic).
Parent schema
JointState appears in the JointStates message schema.
Schema
| field | type | description |
|---|---|---|
name | string | Joint name |
position (optional) | float64 | Joint position. Radians for revolute joints, meters for prismatic joints. |
velocity (optional) | float64 | Joint velocity. Rad/s for revolute joints, m/s for prismatic joints. |
acceleration (optional) | float64 | Joint acceleration. Rad/s² for revolute joints, m/s² for prismatic joints. |
effort (optional) | float64 | Joint effort (force or torque). Nm for revolute joints, N for prismatic joints. |
Reference implementations
Foxglove messages are framework-agnostic, and can be implemented using any supported message encoding:
| encoding | schema |
|---|---|
| ROS 1 | foxglove_msgs/JointState |
| ROS 2 | foxglove_msgs/msg/JointState |
| JSON | foxglove.JointState |
| Protobuf | foxglove.JointState |
| FlatBuffers | foxglove.JointState |
| OMG IDL | foxglove::JointState |
You must use the schema names specified above for Foxglove to recognize the schema.