How to register joint state variable to introspection manager?

Is it possible to register a joint velocity to the introspection? I want to access the joint velocity value from plugin. I saw a tutorial on how to set some variable declared in a plugin for introspection, but this is different. How can I do this?

Asked by kumpakri on 2018-10-16 08:09:59 UTC

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Answers

Several variables are already registered by default, so you don't need to register them, you just need to create the appropriate filters as in the watcher program (so skip the introspectable_plugin part).

The URI for joint velocity should be something like this:

data://world/<world_name>/model/<model_name>/joint/<joint_name>?p=axis/<axis_number>/double/velocity

Asked by chapulina on 2018-10-16 12:04:37 UTC