Header header
uint32 seq
time stamp
string frame_id
string reason
ethercat_hardware/BoardInfo board_info
string description
uint32 product_code
uint32 pcb
uint32 pca
uint32 serial
uint32 firmware_major
uint32 firmware_minor
float64 board_resistance
float64 max_pwm_ratio
float64 hw_max_current
bool poor_measured_motor_voltage
ethercat_hardware/ActuatorInfo actuator_info
uint32 id
string name
string robot_name
string motor_make
string motor_model
float64 max_current
float64 speed_constant
float64 motor_resistance
float64 motor_torque_constant
float64 encoder_reduction
float64 pulses_per_revolution
ethercat_hardware/MotorTraceSample[] samples
float64 timestamp
bool enabled
float64 supply_voltage
float64 measured_motor_voltage
float64 programmed_pwm
float64 executed_current
float64 measured_current
float64 velocity
float64 encoder_position
uint32 encoder_error_count
float64 motor_voltage_error_limit
float64 filtered_motor_voltage_error
float64 filtered_abs_motor_voltage_error
float64 filtered_measured_voltage_error
float64 filtered_abs_measured_voltage_error
float64 filtered_current_error
float64 filtered_abs_current_error