BB.Ufactory.Message.CartesianPose (bb_ufactory v0.1.0)

Cartesian end-effector pose from the xArm TCP (tool-centre-point).

Published by BB.Ufactory.Controller to [:sensor, controller_name, :tcp_pose] on every real-time report frame received from the arm.

Fields

x, y, z — position in millimetres relative to the arm base frame
roll, pitch, yaw — orientation in radians (RPY convention)

These values are taken directly from the auto-push report (bytes 35–58 of the real-time frame) without unit conversion; the xArm wire protocol uses mm for position and radians for orientation.

Summary

Types

t()

Functions

new(frame_id, attrs)

Types

t()

@type t() :: %BB.Ufactory.Message.CartesianPose{
  pitch: float(),
  roll: float(),
  x: float(),
  y: float(),
  yaw: float(),
  z: float()
}

Functions

new(frame_id, attrs)

@spec new(
  atom(),
  keyword()
) :: {:ok, BB.Message.t()} | {:error, term()}