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<?xml version="1.0"?>
<root
>
<topic name="goal" type="publish" description="control the position, velocity or/and effort" fileName="GoalRotaryServo">
<property name="header" type="header" fileName="Header" package="std_msgs">
<value/>
</property>
<property name="control_type" type="uint8" unit="enum" enum='{"CONTROL_TYPE_NONE": 0, "CONTROL_TYPE_POSITION": 1, "CONTROL_TYPE_EFFORT": 2, "CONTROL_TYPE_VELOCITY": 3, "CONTROL_TYPE_POSITION_VELOCITY": 4, "CONTROL_TYPE_POSITION_EFFORT": 5, "CONTROL_TYPE_VELOCITY_EFFORT": 6, "CONTROL_TYPE_POSITION_VELOCITY_EFFORT": 7}' description="rotary servomotor control type">
<value/>
</property>
<property name="position" type="float64" unit="radian" description="goal position">
<value/>
</property>
<property name="velocity" type="float32" unit="radians per second" description="movement velocity">
<value/>
</property>
<property name="acceleration" type="float32" unit="radians per second squared" description="movement acceleration">
<value/>
</property>
<property name="effort" type="float32" unit="newtons per metre" description="movement torque">
<value/>
</property>
</topic>
</root>
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