common_msgs
===========

``common_msgs`` defines 4 interface(s).

Messages
--------

JointLimit
~~~~~~~~~~

.. code-block:: text

   string[] names
   float64[] lower_positions
   float64[] upper_positions
   float64[] velocities
   float64[] accelerations
   float64[] efforts

Object
~~~~~~

The name of the object.

.. code-block:: text

   string name

   # The reference frame of the object.
   string frame_id

   # The pose of the object wrt frame_id.
   geometry_msgs/Pose pose

   # The type of the object.
   uint8 type

   # The dimensions of the object if it is box/sphere/cylinder/cone.
   float64[<=3] dimensions  # At no point will dimensions have a length > 3.

   # If it is a mesh. The size is 0 or 1.
   shape_msgs/Mesh[<=1] mesh_data

   # If it is an octomap. The size is 0 or 1.
   octomap_msgs/Octomap[<=1] octomap

   # If it is a point cloud. The size is 0 or 1.
   sensor_msgs/PointCloud2[<=1] point_cloud_data

   # Possible types of the object.
   uint8 UNKNOWN = 0
   uint8 BOX = 1
   uint8 SPHERE = 2
   uint8 CYLINDER = 3
   uint8 CONE = 4
   uint8 MESH = 5
   uint8 OCTOMAP = 6
   uint8 POINTCLOUD = 7

   # The meaning of the shape dimensions: each constant defines the index in the 'dimensions' array.

   # For type BOX, the X, Y, and Z dimensions are the length of the corresponding sides of the box.
   uint8 BOX_X=0
   uint8 BOX_Y=1
   uint8 BOX_Z=2

   # For the SPHERE type, only one component is used, and it gives the radius of the sphere.
   uint8 SPHERE_RADIUS=0
   # For the CYLINDER and CONE types, the center line is oriented along the Z axis.
   # Therefore the CYLINDER_HEIGHT (CONE_HEIGHT) component of dimensions gives the
   # height of the cylinder (cone).
   # The CYLINDER_RADIUS (CONE_RADIUS) component of dimensions gives the radius of
   # the base of the cylinder (cone).
   # Cone and cylinder primitives are defined to be circular. The tip of the cone
   # is pointing up, along +Z axis.

   uint8 CYLINDER_HEIGHT=0
   uint8 CYLINDER_RADIUS=1

   uint8 CONE_HEIGHT=0
   uint8 CONE_RADIUS=1

RealVectorConstraint
~~~~~~~~~~~~~~~~~~~~

.. code-block:: text

   string[] names
   float64[] max
   float64[] min

RobotState
~~~~~~~~~~

This message contains information about the robot state, i.e. the positions of its joints and links

.. code-block:: text

   sensor_msgs/JointState joint_state

   # Joints that may have multiple DOF are specified here
   sensor_msgs/MultiDOFJointState multi_dof_joint_state