Endpoint State

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/robot/limb/right/endpoint_state (intera_core_msgs-EndpointState)

  • The endpoint state message provides the current position/orientation pose, linear/angular velocity, and force/torque effort of the robot end-effector at 100 Hz. Pose is in Meters, Velocity in m/s, Effort in Nm.
  • The robot's "endpoint" is definied as the right_gripper tf frame. This frame is updated dynamically when gripper is connected to the robot or a Gripper Customization command is sent.
  • The URDF on the parameter server will now update when the Robot Model is updated by Gripper changes. Check the ROS Parameter for an updated copy of the URDF, especially before using IK or motion planners, such as MoveIt!.