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