msg/MultiDOFJointState Documentation

File: sensor_msgs/msg/MultiDOFJointState.msg

# Representation of state for joints with multiple degrees of freedom,

# following the structure of JointState which can only represent a single degree of freedom.

# It is assumed that a joint in a system corresponds to a transform that gets applied

# along the kinematic chain. For example, a planar joint (as in URDF) is 3DOF (x, y, yaw)

# and those 3DOF can be expressed as a transformation matrix, and that transformation

# matrix can be converted back to (x, y, yaw)

# Each joint is uniquely identified by its name

# The header specifies the time at which the joint states were recorded. All the joint states

# in one message have to be recorded at the same time.

# This message consists of a multiple arrays, one for each part of the joint state.

# The goal is to make each of the fields optional. When e.g. your joints have no

# wrench associated with them, you can leave the wrench array empty.

# All arrays in this message should have the same size, or be empty.

# This is the only way to uniquely associate the joint name with the correct

# states.

std_msgs/Header header

string[] joint_names
geometry_msgs/Transform[] transforms
geometry_msgs/Twist[] twist
geometry_msgs/Wrench[] wrench

std_msgs/msg/Header header
string[] joint_names
geometry_msgs/msg/Transform[] transforms
geometry_msgs/msg/Twist[] twist
geometry_msgs/msg/Wrench[] wrench