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Home / Manipulator_v2_0ServiceSet / ManipulatorEndEffectorPoseSensor

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

Description:
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
None


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


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


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