Skip to content

lbr-stack/lbr_fri_idl

Folders and files

NameName
Last commit message
Last commit date

Latest commit

 

History

13 Commits
 
 
 
 
 
 
 
 
 
 
 
 
 
 

Repository files navigation

lbr_fri_idl

Interface definition language (IDL) messages for the FRI.

Command Interfaces

  • LBRJointPositionCommand.msg:

    • Control modes:
      • POSITION_CONTROL
      • JOINT_IMPEDANCE_CONTROL
      • CARTESIAN_IMPEDANCE_CONTROL
    • Client command mode: POSITION
    • Contains:
      • Joint position
  • LBRTorqueCommand.msg:

    • Control mode: JOINT_IMPEDANCE_CONTROL
    • Client command mode: TORQUE
    • Contains:
      • Joint position and torque overlay commands
  • LBRWrenchCommand.msg:

    • Control mode: CARTESIAN_IMPEDANCE_CONTROL
    • Client command mode: WRENCH
    • Contains:
      • Joint position and wrench overlay commands
  • LBRCommand.msg:

    • Combined message to buffer the above

State Interfaces

  • LBRState.msg:
    • FRI exposed robot state