lbr_fri_idl

Interface definition language (IDL) messages for the FRI.

Command Interfaces

• LBRJointPositionCommand.msg:

  • Control modes:
    • POSITION_CONTROL
    • JOINT_IMPEDANCE_CONTROL
    • CARTESIAN_IMPEDANCE_CONTROL
  • Client command mode: POSITION
  • Contains:
    • Joint position

• LBRTorqueCommand.msg:

  • Control mode: JOINT_IMPEDANCE_CONTROL
  • Client command mode: TORQUE
  • Contains:
    • Joint position and torque overlay commands

• LBRWrenchCommand.msg:

  • Control mode: CARTESIAN_IMPEDANCE_CONTROL
  • Client command mode: WRENCH
  • Contains:
    • Joint position and wrench overlay commands

• LBRCommand.msg:

  • Combined message to buffer the above

State Interfaces

• LBRState.msg:
  • FRI exposed robot state