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what is a y-axis in /joint_states/velocity[5] in rqt_plot ?

asked 2018-02-05 12:58:03 -0500

zakizadeh gravatar image

hi . in rqt_plot => /joint_states/position[5]

The x-axis is time in seconds and the y-axis reflects joint position in radians . but what is a y-axis in /joint_states/velocity[5] in rqt_plot ?

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answered 2018-02-05 13:33:02 -0500

gvdhoorn gravatar image

From the sensor_msgs/JointState comments:

The state of each joint (revolute or prismatic) is defined by:
   * the position of the joint (rad or m),
   * the velocity of the joint (rad/s or m/s) and 
   * the effort that is applied in the joint (Nm or N).

So rad/s or m/s, depending on whether the joint is a revolute or linear joint.

Note that this is what the message semantics are specced to be. If a node abuses the message and puts ticks/foot in there, that will work, but will obviously violate semantics.

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Asked: 2018-02-05 12:58:03 -0500

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Last updated: Feb 05 '18