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1 | initial version |
My goal is to subsribe to the topic "joint_states" which, as I so far understood, is often used for sending actual robot positions [..]
Not as far as I know: the sensor_msgs/JointStates
message is used to store the state of a set of joints at a certain time, as a piece of sensor information -- actual state. It is not normally used to encode desired or commanded state. Server implementations using the protocol -- running on robot controllers -- typically periodically send out JOINT_POSITION
Simple Message messages, that the industrial_robot_client
deserialises and republishes as sensor_msgs/JointStates
.
As such, there is currently no support in simple_message
for "Convert[ing] 'joint_states' to 'JointMessage' which is part of the 'simple_message' Package and send it".
Do you have a particular reason for wanting to send over sensor_msgs/JointStates
messages, instead of letting the industrial_robot_client
proxy between JointTrajectory and JOINT_TRAJ_PT
or similar messages?
2 | No.2 Revision |
[..] send this data via the simple_message Protocol using TCP/IP to my robot controller. My goal is to subsribe to the topic "joint_states" which, as I so far understood, is often used for sending actual robot positions [..]
Not as far as I know: the sensor_msgs/JointStates
message is used to store the state of a set of joints at a certain time, as a piece of sensor information -- actual state. It is not normally used to encode desired or commanded state. Server implementations using the protocol -- running on robot controllers -- typically periodically send out JOINT_POSITION
Simple Message messages, that the industrial_robot_client
deserialises and republishes as sensor_msgs/JointStates
.
As such, there is currently no support in simple_message
for "Convert[ing] 'joint_states' to 'JointMessage' which is part of the 'simple_message' Package and send it".
Do you have a particular reason for wanting to send over sensor_msgs/JointStates
messages, instead of letting the industrial_robot_client
proxy between JointTrajectory and JOINT_TRAJ_PT
or similar messages?