Struct ROSHandles

Defined in File cartesian_motion_type.hpp

Struct Documentation

struct ROSHandles

Public Members

rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr current_pose_sub

rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr target_monitor_sub

rclcpp::Subscription<geometry_msgs::msg::WrenchStamped>::SharedPtr wrench_sub

rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr target_pose_pub

rclcpp::Publisher<geometry_msgs::msg::WrenchStamped>::SharedPtr target_wrench_pub

MotionClient<cartesian_controller_msgs::srv::JointMove>::SharedPtr joint_move_client