pendulum_msgs

Custom messages for real-time pendulum control.

README

What Is This?

The pendulum_msgs ROS 2 package is a dependency of pendulum_control ROS 2 package. It contains JointCommand.msg, JointState.msg and RttestResults.msg

Please refer to pendulum_control for more details.

JointCommand.msg

float64 position

JointState.msg

float64 position
float64 velocity
float64 effort

RttestResults.msg

builtin_interfaces/Time stamp

JointCommand command
JointState state

uint64 cur_latency
float64 mean_latency
uint64 min_latency
uint64 max_latency
uint64 minor_pagefaults
uint64 major_pagefaults

References

Real-time Jitter Measurements under ROS 2: The Inverted Pendulum Case: https://www.researchgate.net/publication/350353690_Real-time_Jitter_Measurements_under_ROS2_the_Inverted_Pendulum_case