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Hey,
the interface currently uses the JointState Message as input. Its a standard message type consisting of Position, Velocity and Effort values for each joint. These messages are originally meant as output (hence the sensor message) but were the easiest to use as input. The driver only uses the Position value so you can disregard the velocity and effort fields.
| | 2 | No.2 Revision |
Hey,
the interface currently uses the JointState Message as input. Its a standard message type consisting of Position, Velocity and Effort values for each joint. These messages are originally meant as output (hence the sensor message) but were the easiest to use as input. The driver only uses the Position value so you can disregard the velocity and effort fields.fields. However, to be consistent, you should fill out the values with zeroes or any value you want.
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