File: caros_universalrobot/UrServiceForceModeStart.srv
Raw Message Definition
# Service for running the robot in force mode
# Transformation between robot base and the reference frame in which the force is computed
geometry_msgs/Transform base2forceFrame
# Selection of which elements to force control in (x, y, z, rx, ry, rz)
uint32[] selection
# The desired wrench
geometry_msgs/Wrench wrench
# Control type
uint8 type
# The limits of the speed the robot may attempt to generate the force
float32[] limits
---
# If the service request was acknowledged
bool success
Compact Message Definition