RobotState

• Source proto: rb/api/robot_state.proto

State snapshot for robot.

Field	Type	Label	Description
timestamp	google.protobuf.Timestamp
system_stat	SystemStat		System Statistic
battery_state	BatteryState		Battery State
power_states	PowerState	repeated	Power State
emo_states	EMOState	repeated	EMO state
joint_states	JointState	repeated	Joint State
tool_flange_right	ToolFlangeState		Tool Flange State
tool_flange_left	ToolFlangeState
ft_sensor_right	FTSensorData		Force Torque Sensor
ft_sensor_left	FTSensorData
is_ready	double	repeated
position	double	repeated
velocity	double	repeated
current	double	repeated
torque	double	repeated
target_position	double	repeated
target_velocity	double	repeated
target_feedback_gain	uint32	repeated
target_feedforward_torque	double	repeated
odometry	SE2Pose		Mobility State
center_of_mass	Vec3		Center Of Mass

Position of center of mass with respect t base link | | collisions | Collision | repeated | Collisions | | temperature | int32 | repeated | Temperature |