gazebo/GetJointProperties Service

File: gazebo/GetJointProperties.srv

string joint_name                    # name of joint
---
# joint type
uint8 type
uint8 REVOLUTE    = 0                # single DOF
uint8 CONTINUOUS  = 1                # single DOF (revolute w/o joints)
uint8 PRISMATIC   = 2                # single DOF
uint8 FIXED       = 3                # 0 DOF
uint8 BALL        = 4                # 3 DOF
uint8 UNIVERSAL   = 5                # 2 DOF
# dynamics properties
float64[] damping
# joint state
float64[] position
float64[] rate
# service return status
bool success                         # return true if get successful
string status_message                # comments if available

Expanded Definition

string joint_name

uint8 REVOLUTE=0
uint8 CONTINUOUS=1
uint8 PRISMATIC=2
uint8 FIXED=3
uint8 BALL=4
uint8 UNIVERSAL=5
uint8 type
float64[] damping
float64[] position
float64[] rate
bool success
string status_message