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What are the JointStateHandle units?

asked 2019-07-15 04:48:40 -0600

alex_ gravatar image

Hi, I'm using ros_control c++ interface and JointStateHandle to update the motor feedback values. My question is about the units used in the parameters of the following line:

hardware_interface::JointStateHandle state_handle_1(right_joint, &pos_[0], &vel_[0], &eff_[0]);

I suppose that vel_ has the unit [rad/s]. But what unit does pos_ have? Is it [m] or [rad]?

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answered 2019-07-15 05:34:29 -0600

This message type can describe both linear and rotary joints, so the units used will depend on the type of joint.

If it's a rotary joint the units are radians, radians per second, and Netwton metres.

If it's a linear joint the units are metres, metres per second, and Netwtons.

Hope this helps.

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Yes it helps. I tested it with my rotatory joint and it is rad/s, rad and Nm.

alex_ gravatar image alex_  ( 2019-07-15 09:55:11 -0600 )edit

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Asked: 2019-07-15 04:48:40 -0600

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Last updated: Jul 15 '19