Function moveit_servo::composeMultiArrayMessage

• Defined in File common.hpp

Function Documentation

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

Create a Float64MultiArray message from the given joint state.

This function converts the joint state into a std_msgs::msg::Float64MultiArray message based on the configuration in the Servo parameters. It supports both position and velocity command modes, depending on the controller configuration.

Parameters:

• servo_params – Configuration parameters used by Servo (e.g., command type: position or velocity).

• joint_state – The current joint state to be converted into a Float64MultiArray message.

Returns:

The resulting Float64MultiArray message containing joint commands.