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Topic for motor current [closed]

asked 2015-06-18 06:17:36 -0500

heppner gravatar image

Hi everyone,

is there a standard topic to output currents used by a motor? I know i can give efforts of motors in the joint state message but i also would like to provide the raw current values of the measurement. Do i just use a std_msgs topic like Float64 or is there something better? And is there a naming convention for things like this? If so could someone point me to the REP?

Best Regards Georg

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Closed for the following reason the question is answered, right answer was accepted by Miquel Massot
close date 2015-06-22 01:31:13.995163

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answered 2015-06-19 03:22:44 -0500

Adolfo Rodriguez T gravatar image

One example message type that exposes actuator currents (but also many, many other fields) is the pr2_mechanism_msgs::ActuatorStatistics.

std_msgs, as suggested in the original answer defines floats and float arrays, but does not contain message types with specific actuator current semantics. If you don't find a suitable existing alternative, you can create a simple message that wraps a Float64[].

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Thanks. I Went for the Foat64 Array. I am not entirely happy with it as you dont get a mapping of motor to the value but i wanted to keep the dependencies to non standard packages low. Also creating a new message just for such a "debug" topic seemed exessive.

heppner gravatar image heppner  ( 2015-06-19 04:09:47 -0500 )edit

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Asked: 2015-06-18 06:17:36 -0500

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Last updated: Jun 19 '15