baxter_core_msgs/EndEffectorState Message

File: baxter_core_msgs/EndEffectorState.msg

Raw Message Definition

#
time timestamp              # time when state was updated
uint32 id                   # EndEffectorId
#
# The following State fields are tristate: 0 = false; 1 = true; 2 = unknown/unsupported
  uint8   STATE_FALSE = 0
  uint8   STATE_TRUE = 1
  uint8   STATE_UNKNOWN = 2
#
uint8   enabled             # true if enabled
uint8   calibrated          # true if calibration has completed
uint8   ready               # true if ready for another command
uint8   moving              # true if moving
uint8   gripping            # true if gripping
uint8   missed              # true if GRIP/GOTO/SET was commanded and the gripper reaches the end of travel
uint8   error               # true if the gripper is in an error state
uint8   reverse             # true if the gripper is in reverse mode
#
float32 position            # position as a percentage of the max position;      0=closed - 100=open
#
  float32 POSITION_CLOSED = 0.0
  float32 POSITION_OPEN   = 100.0
#
float32 force               # force as a percentage of max force;                0=none   - 100=max
#
  float32 FORCE_MIN = 0.0
  float32 FORCE_MAX = 100.0
#
string state                # JSON: other state information
#
string command              # from the last command message
string command_sender
uint32 command_sequence
#

Compact Message Definition

uint8 STATE_FALSE=0
uint8 STATE_TRUE=1
uint8 STATE_UNKNOWN=2
float32 POSITION_CLOSED=0.0
float32 POSITION_OPEN=100.0
float32 FORCE_MIN=0.0
float32 FORCE_MAX=100.0
time timestamp
uint32 id
uint8 enabled
uint8 calibrated
uint8 ready
uint8 moving
uint8 gripping
uint8 missed
uint8 error
uint8 reverse
float32 position
float32 force
string state
string command
string command_sender
uint32 command_sequence