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Home / Manipulator_v2_0ServiceSet / ManipulatorJointVelocitySensor

ManipulatorJointVelocitySensor

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

Description:
The function of the Joint Velocity Sensor Service is to report the values of manipulator joint velocities 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
2603h QueryJointVelocity
4603h ReportJointVelocity

State Machine Diagram

ManipulatorJointVelocitySensor State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
A ManipulatorJointVelocitySensorDefaultLoop QueryJointVelocity sendReportJointVelocity


Actions
Action Name Type Description
sendReportJointVelocity Send Action Send Report Joint Velocity message to the service that sent the query
Output Message: ReportJointVelocity


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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.

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