Struct RobotConfig

• Defined in File cartesian_motion_type.hpp

Struct Documentation

struct RobotConfig

Public Members

std::string name = "ur"

std::string pose_sub = "/cartesian_compliance_controller/current_pose"

std::string cmd_monitor_sub = "/cartesian_compliance_controller/target_frame_monitor"

std::string wrench_sub = "/cartesian_compliance_controller/current_wrench"

std::string wrench_pub = "/cartesian_compliance_controller/target_wrench"

std::string cmd_pub = "/cartesian_compliance_controller/target_frame"

std::string joint_service = "/cartesian_compliance_controller/target_joint"