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Home / Manipulator_v2_0ServiceSet / ManipulatorEndEffectorPoseSensor


Version: 2.0
ID: urn:jaus:jss:manipulator:ManipulatorEndEffectorPoseSensor
Inherits From:
extended byurn:jaus:jss:core:AccessControl v1.1
extended byurn:jaus:jss:core:Events v1.1
extended byurn:jaus:jss:core:Transport v1.0

The function of the End Effector Pose Sensor Service is to report the position and orientation of the tool tip with respect to the manipulator base coordinate system. To ensure backward compatibility with 1.0 implementations of this service, it is recommended that this service be co-located on the same component as a Manipulator Specification Service and a Manipulator Tool Offset Service.

Internal Event Set

Message Set
Message ID Name
2615h QueryEndEffectorPose
4615h ReportEndEffectorPose

State Machine Diagram

ManipulatorEndEffectorPoseSensor State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
A ManipulatorEndEffectorPoseSensorDefaultLoop QueryEndEffectorPose sendReportEndEffectorPose

Action Name Type Description
sendReportEndEffectorPose Send Action Send a report end effector pose message
Output Message: ReportEndEffectorPose

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Portions Copyright © OpenJAUS LLC.
The information above is generated from the JAUS Services modelled in the OpenJAUS SDK using OpenJAUS Service Studio. It is provided as a resource to assist JAUS developers and is not a substitute for the JAUS Standards Documents which may be obtained from the SAE International.

Generated on 07/17/2019 from as6057a-manipulator.ojss