/joint_states#

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/joint_states Quick Facts

Category

Robot hardware

Message type

sensor_msgs/JointState

Direction

➡️ you normally subscribe to this topic.

The current state of the robot’s joints (eg angular position of each joint).

Quick snippets#

Check the publication rate#
$ rostopic hz /joint_states
Display the data published on the topic#
$ rostopic echo /joint_states

How to use in your code#

Subscribe to the topic using Python#
 1import rospy
 2from sensor_msgs.msg import JointState
 3
 4def on_data(msg):
 5    # see http://docs.ros.org/en/api/sensor_msgs/html/msg/JointState.html
 6    # for the msg structure
 7    print(msg)
 8
 9if __name__ == "__main__":
10
11    rospy.init_node("subscriber")
12    rospy.Subscriber("/joint_states", JointState, on_data)
13    rospy.spin()