RavenState

The RavenState message, located at raven_2_msgs/msg/RavenState.msg, is the main state message published by the raven. It contains the following information:

• A Header, which contains timestamp and frame information
• The runlevel of the robot
• The pedal status (up or down)
• The master (what form of command the raven is listening to)
• The current controller
• The state of each arm

The arm state (ArmState.msg) contains the following information:

• The name of the arm
• The arm type (green or gold, see Message constants)
• The pose of the base (note that this is in the frame defined by the header)
• The tool type mounted on the arm (see Message constants)
• The state of the tool, and the current set point for the tool (the set point is only relevant if an end effector controller is being used)
• The state of each joint

The tool state (ToolState.msg) contains the following information:

• The pose of the end effector
• The value of the grasp

The joint state (JointState.msg) contains the following information:

• The joint type (see Message constants)
• The joint state: the possible values are defined as constants in the message
• The encoder and DAC values
• The position and velocity for both the joint and the corresponding motor (note that some joints may not have motors associated with them, see Joints for details)
• The commanded torque
• The current JointCommand (see RavenCommand)
• The current set point for position/velocity. Whether these values are relevant depends on the controller being used.