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Home / Manipulator_v2_0ServiceSet / ManipulatorJointPositionSensor

ManipulatorJointPositionSensor

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

Description:
The function of the Joint Position Sensor Service is to report the values of manipulator joint positions when queried. 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.

Internal Event Set
None


Message Set
Message ID Name
2602h QueryJointPosition
4602h ReportJointPosition

State Machine Diagram

ManipulatorJointPositionSensor State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
A ManipulatorJointPositionSensorDefaultLoop QueryJointPosition sendReportJointPosition


Actions
Action Name Type Description
sendReportJointPosition Send Action Send Report Joint Positions message to the service that sent the query
Output Message: ReportJointPosition


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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