/joint_states#
Caution
This documentation page has been auto-generated.
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/joint_states Quick Facts
- Category
- Message type
- Direction
➡️ you normally subscribe to this topic.
The current state of the robot’s joints (eg angular position of each joint).
Quick snippets#
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()
Subscribe to the topic using C++#
1#include <ros/ros.h>
2#include <sensor_msgs/JointState.h>
3
4void on_data(const sensor_msgs::JointState::ConstPrt& msg)
5{
6 // see http://docs.ros.org/en/api/sensor_msgs/html/msg/JointState.html
7 // for the msg structure
8 ROS_INFO_STREAM("Got " << msg);
9}
10
11int main(int argc, char **argv)
12{
13 ros::init(argc, argv, "subscriber");
14 ros::NodeHandle n;
15
16 ros::Subscriber sub = n.subscribe("/joint_states", 10, on_data);
17
18 ros::spin();
19 return 0;
20}
You can also access this topic from a webpage displayed on the robot’s touchscreen via this endpoint:
http://<robot>-0c/topic/joint_states
(replace <robot>-0c by the serial number of your own robot).
See REST interface for the general documentation of the REST endpoints and code samples.