Summary
SENSOR is a message type, which is used to transfer sensor reading, 3-axis position, velocity, acceleration, angle, angle velocity and angle acceleration. The message format is intended for manipulator control and various types of sensors.
Message Types
SENSOR
| Data
| Type
| Description
|
| LARRAY
| uint8
| Length of array (0-255)
|
| STATUS
| uint8
| Sensor status (Reserved)
|
| UNIT
| uint64
| See 64-bit UNIT field.
|
| DATA
| float64[LARRAY]
| value array for sensor 0
|
GET_SENSOR
STT_SENSOR
or
| Data
| Type
| Description
|
| RESOL
| uint64
| Minimum interval between message (ns). Same format as TimeStamp
|
STP_SENSOR
RTS_SENSOR
| Data
| Type
| Description
|
| Status
| 8 bit unsigned
| 0: Success 1: Error
|
Implementations
The TDATA message type is implemented in the following source code.
Contributors
- Junichi Tokuda
- Yuichiro Hayashi
Examples
Sending 3-axis troque
A device with 3-axis torque (N*m) sensor is sending data to a data logger program. The following table shows example data format to send 3-axis torque:
| Data
| Type
| Value
|
| LARRAY
| uint8
| 3
|
| STATUS
| uint8
| 0
|
| UNIT
| uint64
| 00000010 11000000 00010000 00000000 00000000 00000000 00000000 00000000
|
| DATA
| double[3]
| {0.0, 0.0, 0.0}
|
Sending 3-axis force, troque and acceleration
By binding SENSOR data using BIND type, values from multiple types of sensors can be transferred simultaneously. See BIND message description page for detail.