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• double alpha_q = 1

• double alpha_dq = 2

• double alpha_eef = 3

• double alpha_eef_vel = 4

• optional Goal goal = 1

• double kp_gains = 2

• double kd_gains = 3

• double speed_factor = 4

Unified message interface for arm control

• bool termination = 1

• FrankaControlMessage.ControllerType controller_type = 2

• FrankaControlMessage.TrajInterpolatorType traj_interpolator_type = 3

• double traj_interpolator_time_fraction = 4

• optional google.protobuf.Any control_msg = 5

• double timeout = 6

• optional FrankaStateEstimatorMessage state_estimator_msg = 7

Used in: FrankaControlMessage

• NO_CONTROL = 0

• OSC_POSE = 1

• OSC_POSITION = 2

• JOINT_POSITION = 3

• JOINT_IMPEDANCE = 4

• JOINT_VELOCITY = 5

• TORQUE = 6

• OSC_YAW = 7

• CARTESIAN_VELOCITY = 8

Used in: FrankaControlMessage

• NO_OP = 0

• LINEAR_POSITION = 1

• LINEAR_POSE = 2

• MIN_JERK_POSE = 3

• SMOOTH_JOINT_POSITION = 4

• MIN_JERK_JOINT_POSITION = 5

• LINEAR_JOINT_POSITION = 6

• COSINE_CARTESIAN_VELOCITY = 7

• LINEAR_CARTESIAN_VELOCITY = 8

• optional Goal goal = 1

• bool termination = 2

• bool termination = 1

• optional google.protobuf.Any control_msg = 2

• double width = 1

• double speed = 2

• double force = 3

• double epsilon_inner = 4

• double epsilon_outer = 5

• bool homing = 1

• double width = 1

• double speed = 2

• double width = 1

• double max_width = 2

• bool is_grasped = 3

• uint32 temperature = 4

• optional FrankaGripperStateMessage.Duration time = 5

Used in: FrankaGripperStateMessage

• double toSec = 1

• uint64 toMSec = 2

• bool stop = 1

• optional JointGoal goal = 1

• repeated double kp = 2

• repeated double kd = 3

• optional JointGoal goal = 1

• double kp_gains = 2

• double kd_gains = 3

• double speed_factor = 4

• optional JointGoal goal = 1

• double kp_gains = 2

• double kd_gains = 3

• optional JointGoal goal = 1

• double kp_gains = 2

• double kd_gains = 3

Used in: FrankaOSCPoseControllerMessage

• repeated double residual_mass_vec = 1

  The manual residual mass matrix to add on the internal mass matrix

• optional Goal goal = 1

• repeated double translational_stiffness = 2

• repeated double rotational_stiffness = 3

• bool termination = 4

• optional FrankaOSCControllerConfig config = 5

• repeated double O_T_EE = 1

• repeated double O_T_EE_d = 2

• repeated double F_T_EE = 3

• repeated double F_T_NE = 4

• repeated double NE_T_EE = 5

• repeated double EE_T_K = 6

• double m_ee = 7

• repeated double I_ee = 8

• repeated double F_x_Cee = 9

• double m_load = 10

• repeated double I_load = 11

• repeated double F_x_Cload = 12

• double m_total = 13

• repeated double I_total = 14

• repeated double F_x_Ctotal = 15

• repeated double elbow = 16

• repeated double elbow_d = 17

• repeated double elbow_c = 18

• repeated double delbow_c = 19

• repeated double ddelbow_c = 20

• repeated double tau_J = 21

• repeated double tau_J_d = 22

• repeated double dtau_J = 23

• repeated double q = 24

• repeated double q_d = 25

• repeated double dq = 26

• repeated double dq_d = 27

• repeated double ddq_d = 28

• repeated double joint_contact = 29

• repeated double cartesian_contact = 30

• repeated double joint_collision = 31

• repeated double cartesian_collision = 32

• repeated double tau_ext_hat_filtered = 33

• repeated double O_F_ext_hat_K = 34

• repeated double K_F_ext_hat_K = 35

• repeated double O_dP_EE_d = 36

• repeated double O_T_EE_c = 37

• repeated double O_dP_EE_c = 38

• repeated double O_ddP_EE_c = 39

• repeated double theta = 40

• repeated double dtheta = 41

• optional FrankaRobotStateMessage.Errors current_errors = 42

• optional FrankaRobotStateMessage.Errors last_motion_errors = 43

• double control_command_success_rate = 44

• FrankaRobotStateMessage.RobotMode robot_mode = 45

• optional FrankaRobotStateMessage.Duration time = 46

• repeated double current_robot_poses_frames = 47

• uint64 frame = 48

Used in: FrankaRobotStateMessage

• double toSec = 1

• uint64 toMSec = 2

Used in: FrankaRobotStateMessage

• bool joint_position_limits_violation = 1

• bool cartesian_position_limits_violation = 2

• bool self_collision_avoidance_violation = 3

• bool joint_velocity_violation = 4

• bool cartesian_velocity_violation = 5

• bool force_control_safety_violation = 6

• bool joint_reflex = 7

• bool cartesian_reflex = 8

• bool max_goal_pose_deviation_violation = 9

• bool max_path_pose_deviation_violation = 10

• bool cartesian_velocity_profile_safety_violation = 11

• bool joint_position_motion_generator_start_pose_invalid = 12

• bool joint_motion_generator_position_limits_violation = 13

• bool joint_motion_generator_velocity_limits_violation = 14

• bool joint_motion_generator_velocity_discontinuity = 15

• bool joint_motion_generator_acceleration_discontinuity = 16

• bool cartesian_position_motion_generator_start_pose_invalid = 17

• bool cartesian_motion_generator_elbow_limit_violation = 18

• bool cartesian_motion_generator_velocity_limits_violation = 19

• bool cartesian_motion_generator_velocity_discontinuity = 20

• bool cartesian_motion_generator_acceleration_discontinuity = 21

• bool cartesian_motion_generator_elbow_sign_inconsistent = 22

• bool cartesian_motion_generator_start_elbow_invalid = 23

• bool cartesian_motion_generator_joint_position_limits_violation = 24

• bool cartesian_motion_generator_joint_velocity_limits_violation = 25

• bool cartesian_motion_generator_joint_velocity_discontinuity = 26

• bool cartesian_motion_generator_joint_acceleration_discontinuity = 27

• bool cartesian_position_motion_generator_invalid_frame = 28

• bool force_controller_desired_force_tolerance_violation = 29

• bool controller_torque_discontinuity = 30

• bool start_elbow_sign_inconsistent = 31

• bool communication_constraints_violation = 32

• bool power_limit_violation = 33

• bool joint_p2p_insufficient_torque_for_planning = 34

• bool tau_j_range_violation = 35

• bool instability_detected = 36

• bool joint_move_in_wrong_direction = 37

Used in: FrankaRobotStateMessage

• Other = 0

• Idle = 1

• Move = 2

• Guiding = 3

• Reflex = 4

• UserStopped = 5

• AutomaticErrorRecovery = 6

Used in: FrankaControlMessage

• bool is_estimation = 1

• FrankaStateEstimatorMessage.EstimatorType estimator_type = 2

• optional google.protobuf.Any config = 5

Used in: FrankaStateEstimatorMessage

• NO_ESTIMATOR = 0

• EXPONENTIAL_SMOOTHING_ESTIMATOR = 1

Used in: FrankaCartesianVelocityControllerMessage, FrankaDummyControllerMessage, FrankaOSCPoseControllerMessage

• bool is_delta = 1

• double x = 2

• double y = 3

• double z = 4

• double ax = 5

• double ay = 6

• double az = 7

Used in: FrankaJointImpedanceControllerMessage, FrankaJointPositionControllerMessage, FrankaJointTorqueControllerMessage, FrankaJointVelocityControllerMessage

• bool is_delta = 1

• double q1 = 2

• double q2 = 3

• double q3 = 4

• double q4 = 5

• double q5 = 6

• double q6 = 7

• double q7 = 8

• int32 x = 1