Function moveit_servo::composeMultiArrayMessage

Function Documentation

std_msgs::msg::Float64MultiArray moveit_servo::composeMultiArrayMessage(const servo::Params &servo_params, const KinematicState &joint_state)

Create a Float64MultiArray message from given joint state.

Parameters:
  • servo_params – The configuration used by servo, required for selecting position vs velocity.

  • joint_state – The joint state to be added into the Float64MultiArray.

Returns:

The Float64MultiArray message.