Joint State Interface

Robot Joint Information

Robot joint information includes joint angles, joint angular velocities, and more. The command codes are as follows:

Command Name	Command Code	Command Type	Data Content	Reporting Frequency
Joint angle information	0x0902	1	Struct RobotJointAngle (see below)	100 Hz
Joint angular velocity information	0x0903	1	Struct RobotJointVel (see below)	100 Hz

/// Robot joint angles — Channel 0x0902
struct RobotJointAngle{
    double joint_angle[12]; /// Unit: rad
};

/// Robot joint angular velocity — Channel 0x0903
struct RobotJointVel{
    double joint_vel[12]; /// Unit: rad/s
};