File: riq_msgs/RIQHandCommand.msg
# ROS command message from RobotIQ hand
# mode constants
int8 CYLINDRICAL = 0
int8 PINCH = 1
int8 SPHERIOD = 2
int8 SCISSORS = 3
# action constants
int8 STOP = 0
int8 CLOSE = 1
int8 OPEN = 2
int8 mode # PINCH, CYLINDRICAL, SPHERIOD, SCISSORS
int8 action # CLOSE, OPEN, STOP
float64 velocity # Speed value goes from 0.0 to 1.0
float64 force # Force value goes from 0.0 to 1.0
Expanded Definition
int8 CYLINDRICAL=0
int8 PINCH=1
int8 SPHERIOD=2
int8 SCISSORS=3
int8 STOP=0
int8 CLOSE=1
int8 OPEN=2
int8 mode
int8 action
float64 velocity
float64 force