PR2 joint_states message

gistfile1.txt

---
header: 
  seq: 2468
  stamp: 
    secs: 29
    nsecs: 863000000
  frame_id: ''
name: ['fl_caster_rotation_joint', 'fl_caster_l_wheel_joint', 'fl_caster_r_wheel_joint', 'fr_caster_rotation_joint', 'fr_caster_l_wheel_joint', 'fr_caster_r_wheel_joint', 'bl_caster_rotation_joint', 'bl_caster_l_wheel_joint', 'bl_caster_r_wheel_joint', 'br_caster_rotation_joint', 'br_caster_l_wheel_joint', 'br_caster_r_wheel_joint', 'torso_lift_joint', 'torso_lift_motor_screw_joint', 'head_pan_joint', 'head_tilt_joint', 'laser_tilt_mount_joint', 'r_upper_arm_roll_joint', 'r_shoulder_pan_joint', 'r_shoulder_lift_joint', 'r_forearm_roll_joint', 'r_elbow_flex_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint', 'r_gripper_joint', 'r_gripper_l_finger_joint', 'r_gripper_r_finger_joint', 'r_gripper_r_finger_tip_joint', 'r_gripper_l_finger_tip_joint', 'r_gripper_motor_screw_joint', 'r_gripper_motor_slider_joint', 'l_upper_arm_roll_joint', 'l_shoulder_pan_joint', 'l_shoulder_lift_joint', 'l_forearm_roll_joint', 'l_elbow_flex_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint', 'l_gripper_joint', 'l_gripper_l_finger_joint', 'l_gripper_r_finger_joint', 'l_gripper_r_finger_tip_joint', 'l_gripper_l_finger_tip_joint', 'l_gripper_motor_screw_joint', 'l_gripper_motor_slider_joint']
position: [-0.0008367036637695334, 0.00643649488501108, 0.006771446087715737, -0.001590456074041846, 0.013302319138975172, 0.013336563998113782, -0.00043939421248495597, -0.00813953299582959, -0.00806816494577145, -0.00021115725880260785, -0.00837998022028863, -0.008062493897599055, 0.011497872395864622, 0.0, 0.004517061787253418, 1.3056115721324364, -0.1589594341206615, -0.0057179691600985905, -4.541031846017063e-05, -0.003735464821081891, 0.0009117488062653223, -0.32747118413025955, -0.4746168640133419, -0.00020574582796495378, 2.4567955447532476e-06, 0.0021095391793727047, 0.0021095391793727047, 0.0021095391793727047, 0.0021095391793727047, 0.0, 0.0, 0.0014198237075699893, 7.765341710097573e-06, -0.0036918395387699476, -0.0013663525458067483, -0.32666203829777185, -0.47560879020944924, 0.00011869344506365564, 1.4169099516080563e-06, 0.002103844723142817, 0.002103844723142817, 0.002103844723142817, 0.002103844723142817, 0.0, 0.0]
velocity: [2.915628516244427e-06, 2.2493895244742712e-06, 5.3442369267087005e-06, -1.0387133855582152e-05, 7.824637537807054e-06, -6.46594601780798e-06, -3.900390497094604e-06, 6.6879093035238335e-06, 9.433209410680011e-07, 8.172650060238467e-08, 1.8910726057440134e-06, 1.1907251367389016e-06, -2.3863348331657885e-05, 0.0, 0.00019519179823332755, 0.00013878352137606156, 8.756145791626202e-06, -2.5712456861556736e-06, 2.47524707347975e-08, 4.526224468781877e-10, -1.6335252315526965e-06, 1.5761056331530491e-09, 4.1302930745873675e-09, -6.061139315749734e-10, -2.9477989952775854e-07, -1.6142271394373985e-06, -1.6142271394373985e-06, -1.6142271394373985e-06, -1.6142271394373985e-06, 0.0, 0.0, 4.7581916224541886e-07, -5.10371100104786e-09, 6.498612695377104e-10, 3.0074134817630726e-07, 2.8233123801840333e-09, 4.6812273883695994e-09, -7.469391279065977e-11, 1.5862710021792016e-07, 8.686483567448042e-07, 8.686483567448042e-07, 8.686483567448042e-07, 8.686483567448042e-07, 0.0, 0.0]
effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -2.805887990351614, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---

This is an example message retrieved using rostopic echo joint_states

right arm ('r_upper_arm_roll_joint') at indices [17,23] and left arm ('l_upper_arm_roll_joint') at indices [31,37]. Total size is 44+1=45