Actions and Observations

Only action and observation types for Solo12 are shown below. Corresponding types for Solo8 are the same except for the joint_* fields having only eight values instead of twelve.

Solo12Action

“Actions” are used to send commands to the robot. The members are vectors with once field per joint (see solo::Solo12 for a mapping of index to joint).

Warning

doxygenstruct: Cannot find class “robot_interfaces_solo::Solo12Action” in doxygen xml output for project “robot_interfaces_solo” from directory: /home/runner/work/robot_interfaces_solo/robot_interfaces_solo/docbuild/doxygen/xml

Solo12Observation

“Observations” contain the sensor data that is provided by the robot. The joint_* members follow the same order as in the action (see above).

Warning

doxygenstruct: Cannot find class “robot_interfaces_solo::Solo12Observation” in doxygen xml output for project “robot_interfaces_solo” from directory: /home/runner/work/robot_interfaces_solo/robot_interfaces_solo/docbuild/doxygen/xml