pr2_mechanism_msgs/MechanismStatistics Message

File: pr2_mechanism_msgs/MechanismStatistics.msg

# This message describes the state of the pr2 mechanism. It contains the state of
# each actuator, each joint, and each controller that is spawned in pr2_mechanism_control.

Header header
ActuatorStatistics[] actuator_statistics
JointStatistics[] joint_statistics
ControllerStatistics[] controller_statistics

Expanded Definition

Header header
    uint32 seq
    time stamp
    string frame_id
ActuatorStatistics[] actuator_statistics
    string name
    int32 device_id
    time timestamp
    int32 encoder_count
    float64 encoder_offset
    float64 position
    float64 encoder_velocity
    float64 velocity
    bool calibration_reading
    bool calibration_rising_edge_valid
    bool calibration_falling_edge_valid
    float64 last_calibration_rising_edge
    float64 last_calibration_falling_edge
    bool is_enabled
    bool halted
    float64 last_commanded_current
    float64 last_commanded_effort
    float64 last_executed_current
    float64 last_executed_effort
    float64 last_measured_current
    float64 last_measured_effort
    float64 motor_voltage
    int32 num_encoder_errors
JointStatistics[] joint_statistics
    string name
    time timestamp
    float64 position
    float64 velocity
    float64 measured_effort
    float64 commanded_effort
    bool is_calibrated
    bool violated_limits
    float64 odometer
    float64 min_position
    float64 max_position
    float64 max_abs_velocity
    float64 max_abs_effort
ControllerStatistics[] controller_statistics
    string name
    time timestamp
    bool running
    duration max_time
    duration mean_time
    duration variance_time
    int32 num_control_loop_overruns
    time time_last_control_loop_overrun