mteb/BrightProRoboticsRetrieval huggingface dataset:
](namespacerviz__visual__tools.html#a5b544decae321663ea907bb26338d835a322895c45564210483089d04f6a07473)
)  
|  Display a marker of lines.  More...  
  
bool  |  [ publishLines
](classrviz__visual__tools_1_1RvizVisualTools.html#a66e65ae4a8d1a13a2d2121d78b667e6f)
(const std::vector< [ geometry_msgs::Point
](../../../api/tf/html/c++/namespacetf.html#a55ddfd1e43e4fc81a11d51e0e75e9e2c)
> &aPoints, const std::vector< [ geometry_msgs::Point
](../../../api/tf/html/c++/namespacetf.html#a55ddfd1e43e4fc81a11d51e0e75e9e2c)
> &bPoints, const std::vector< std_msgs::ColorRGBA > & [ colors
](namespacerviz__visual__tools.html#abd3566ac96adb96a35044b029930e6e3) , const
geometry_msgs::Vector3 &scale)  
bool  |  [ publishLineStrip
](classrviz__visual__tools_1_1RvizVisualTools.html#a11198dcaa9d38beea590ebd62a573bea)
(const std::vector< [ geometry_msgs::Point
](../../../api/tf/html/c++/namespacetf.html#a55ddfd1e43e4fc81a11d51e0e75e9e2c)
> &path, [ colors
](namespacerviz__visual__tools.html#abd3566ac96adb96a35044b029930e6e3) color=
[ RED
](namespacerviz__visual__tools.html#abd3566ac96adb96a35044b029930e6e3a269d2451e2a4b2d6744d2d958a8a8467)
, [ scales
](namespacerviz__visual__tools.html#a5b544decae321663ea907bb26338d835) scale=
[ MEDIUM
](namespacerviz__visual__tools.html#a5b544decae321663ea907bb26338d835a322895c45564210483089d04f6a07473)
, const std::string &ns="Path")  
|  Display a series of connected lines using the LINE_STRIP method -
deprecated because visual bugs.  More...  
  
bool  |  [ publishMarker
](classrviz__visual__tools_1_1RvizVisualTools.html#af4da51b7d1616a1780d9a6519ddb9701)
(visualization_msgs::Marker &marker)  
|  Display a visualization_msgs Marker of a custom type. Allows reuse of the
ros publisher.  More...  
  
bool  |  [ publishMarkers
](classrviz__visual__tools_1_1RvizVisualTools.html#a24d37fc8e373f5dd91293ec484f41151)
(visualization_msgs::MarkerArray &markers)  
|  Display an array of markers, allows reuse of the ROS publisher.  More...
bool  |  [ publishWireframeCuboid
](classrviz__visual__tools_1_1RvizVisualTools.html#a3cc3ed5a9e236d8c88c87438acfca9c8)
(const Eigen::Isometry3d &pose, double depth, double width, double height, [
colors ](namespacerviz__visual__tools.html#abd3566ac96adb96a35044b029930e6e3)
color= [ BLUE
](namespacerviz__visual__tools.html#abd3566ac96adb96a35044b029930e6e3a6cd27d693df45662c3ecebdc4dc8b671)
, const std::string &ns="Wireframe Cuboid", std::size_t id=0)  
|  Publish transformed wireframe cuboid. Useful eg to show an oriented
bounding box.  More...  
  
bool  |  [ publishWireframeCuboid
](classrviz__visual__tools_1_1RvizVisualTools.html#a6a408296e7dd2535736e406904337d40)
(const Eigen::Isometry3d &pose, const Eigen::Vector3d &min_point, const
Eigen::Vector3d &max_point, [ colors
](namespacerviz__visual__tools.html#abd3566ac96adb96a35044b029930e6e3) color=
[ BLUE
](namespacerviz__visual__tools.html#abd3566ac96adb96a35044b029930e6e3a6cd27d693df45662c3ecebdc4dc8b671)
, const std::string &ns="Wireframe Cuboid", std::size_t id=0)  
|  Publish transformed wireframe cuboid. Useful eg to show an oriented
bounding box.  More...  
  
bool  |  [ publishWireframeRectangle
](classrviz__visual__tools_1_1RvizVisualTools.html#aa2aead3e1744985588b81b6337345a6d)
(const Eigen::Isometry3d &pose, double height, double width, [ colors
](namespacerviz__visual__tools.html#abd3566ac96adb96a35044b029930e6e3) color=
[ BLUE
](namespacerviz__visual__tools.html#abd3566ac96adb96a35044b029930e6e3a6cd27d693df45662c3ecebdc4dc8b671)
, [ scales
](namespacerviz__visual__tools.html#a5b544decae321663ea907bb26338d835) scale=
[ MEDIUM
](namespacerviz__visual__tools.html#a5b544decae321663ea907bb26338d835a322895c45564210483089d04f6a07473)
, std::size_t id=0)  
|  Publish outline of a rectangle.  More...  
  
bool  |  [ publishWireframeRectangle
](classrviz__visual__tools_1_1RvizVisualTools.html#ae425f367933971bb53c839074cd75777)
(const Eigen::Isometry3d &pose, const Eigen::Vector3d &p1_in, const
Eigen::Vector3d &p2_in, const Eigen::Vector3d &p3_in, const Eigen::Vector3d
&p4_in, [ colors
](namespacerviz__visual__tools.html#abd3566ac96adb96a35044b029930e6e3) color,
|  [ convertPoseToPoint
](classrviz__visual__tools_1_1RvizVisualTools.html#a3caaa1441173095071fa44e297d53209)
(const Eigen::Isometry3d &pose)  
|  Convert an [ Eigen ](../../../api/rviz/html/c++/namespaceEigen.html) pose
to a geometry_msg point Note: Not thread safe but very convenient.  More...  
  
static void  |  [ convertToXYZRPY
](classrviz__visual__tools_1_1RvizVisualTools.html#aed25e33b34b5f47b6e9c6cf0a45d709f)
(const Eigen::Isometry3d &pose, std::vector< double > &xyzrpy)  
|  Convert an affine3d to xyz rpy components R-P-Y / X-Y-Z / 0-1-2 Euler Angle
Standard.  More...  
  
static void  |  [ convertToXYZRPY
](classrviz__visual__tools_1_1RvizVisualTools.html#a06a47e77b73dca2782c508f7fb8f7342)
(const Eigen::Isometry3d &pose, double &x, double &y, double &z, double &roll,
double &pitch, double &yaw)  
static double  |  [ dRand
](classrviz__visual__tools_1_1RvizVisualTools.html#ab4394a46e718229a3a287ebc2f674d30)
(double [ min
](../../../api/roslz4/html/lz4s_8c.html#abd8bbcfabb3ddef2ccaafb9928a37b95) ,
double [ max
](../../../api/orocos_kdl/html/namespaceKDL.html#adb3f6f67f41bc87f6d98423ac7a5b92f)
)  
|  Get random between min and max.  More...  
  
static float  |  [ fRand
](classrviz__visual__tools_1_1RvizVisualTools.html#acd50ba5bd96ef3d2e9dbf33901cf759b)
(float [ min
](../../../api/roslz4/html/lz4s_8c.html#abd8bbcfabb3ddef2ccaafb9928a37b95) ,
float [ max
](../../../api/orocos_kdl/html/namespaceKDL.html#adb3f6f67f41bc87f6d98423ac7a5b92f)
)  
static void  |  [ generateEmptyPose
](classrviz__visual__tools_1_1RvizVisualTools.html#a10c09f2fb485ae7341182c4bf2184551)
( [ geometry_msgs::Pose
](../../../api/tf/html/c++/namespacetf.html#af31f272a1879787c24c3decb07cdb361)
&pose)  
|  Create a pose of position (0,0,0) and quaternion (0,0,0,1)  More...  
  
static void  |  [ generateRandomCuboid
](classrviz__visual__tools_1_1RvizVisualTools.html#afec243c2b7224c66726fe364272c9b50)
(const [ geometry_msgs::Pose
](../../../api/tf/html/c++/namespacetf.html#af31f272a1879787c24c3decb07cdb361)
&pose, [ colors
](namespacerviz__visual__tools.html#abd3566ac96adb96a35044b029930e6e3) color=
[ BLUE
](namespacerviz__visual__tools.html#abd3566ac96adb96a35044b029930e6e3a6cd27d693df45662c3ecebdc4dc8b671)
, [ scales
](namespacerviz__visual__tools.html#a5b544decae321663ea907bb26338d835) scale=
[ MEDIUM
](namespacerviz__visual__tools.html#a5b544decae321663ea907bb26338d835a322895c45564210483089d04f6a07473)
, double [ length
](../../../api/tf2/html/namespacetf2.html#ab20034dc53b40043a702876ff38c78a1)
=0.0, std::size_t id=0)  
bool  |  [ publishArrow
](classrviz__visual__tools_1_1RvizVisualTools.html#af2ae779255ecc5735eb8e3efed561a78)
(const geometry_msgs::PoseStamped &pose, [ colors
](namespacerviz__visual__tools.html#abd3566ac96adb96a35044b029930e6e3) color=
[ BLUE
](namespacerviz__visual__tools.html#abd3566ac96adb96a35044b029930e6e3a6cd27d693df45662c3ecebdc4dc8b671)
, [ scales
](namespacerviz__visual__tools.html#a5b544decae321663ea907bb26338d835) scale=
[ MEDIUM
](namespacerviz__visual__tools.html#a5b544decae321663ea907bb26338d835a322895c45564210483089d04f6a07473)
, double [ length
](../../../api/tf2/html/namespacetf2.html#ab20034dc53b40043a702876ff38c78a1)
=0.0, std::size_t id=0)  
bool  |  [ publishArrow
](classrviz__visual__tools_1_1RvizVisualTools.html#a77bfd8028a00243631f099daf7be5652)
(const [ geometry_msgs::Point
](../../../api/tf/html/c++/namespacetf.html#a55ddfd1e43e4fc81a11d51e0e75e9e2c)
& [ start
](../../../api/roscpp/html/namespaceros.html#add7faea1768dbd48d3fe2970204c3422)
, const [ geometry_msgs::Point
](../../../api/tf/html/c++/namespacetf.html#a55ddfd1e43e4fc81a11d51e0e75e9e2c)
&end, [ colors
](namespacerviz__visual__tools.html#abd3566ac96adb96a35044b029930e6e3) color=
[ BLUE
](namespacerviz__visual__tools.html#abd3566ac96adb96a35044b029930e6e3a6cd27d693df45662c3ecebdc4dc8b671)
, [ scales
](../../../api/tf/html/c++/namespacetf.html#af31f272a1879787c24c3decb07cdb361)
&pose, [ colors
](namespacerviz__visual__tools.html#abd3566ac96adb96a35044b029930e6e3) color=
[ BLUE
](namespacerviz__visual__tools.html#abd3566ac96adb96a35044b029930e6e3a6cd27d693df45662c3ecebdc4dc8b671)
, [ scales
](namespacerviz__visual__tools.html#a5b544decae321663ea907bb26338d835) scale=
[ MEDIUM
](namespacerviz__visual__tools.html#a5b544decae321663ea907bb26338d835a322895c45564210483089d04f6a07473)
, double [ length
](../../../api/tf2/html/namespacetf2.html#ab20034dc53b40043a702876ff38c78a1)
=0.0)  
bool  |  [ publishZArrow
](classrviz__visual__tools_1_1RvizVisualTools.html#a30f58b666ed01a75b75ce5b812105951)
(const geometry_msgs::PoseStamped &pose, [ colors
](namespacerviz__visual__tools.html#abd3566ac96adb96a35044b029930e6e3) color=
[ BLUE
](namespacerviz__visual__tools.html#abd3566ac96adb96a35044b029930e6e3a6cd27d693df45662c3ecebdc4dc8b671)
, [ scales
](namespacerviz__visual__tools.html#a5b544decae321663ea907bb26338d835) scale=
[ MEDIUM
](namespacerviz__visual__tools.html#a5b544decae321663ea907bb26338d835a322895c45564210483089d04f6a07473)
, double [ length
](../../../api/tf2/html/namespacetf2.html#ab20034dc53b40043a702876ff38c78a1)
=0.0)  
bool  |  [ publishZArrow
](classrviz__visual__tools_1_1RvizVisualTools.html#a943f01cddf7d10f692520380958c835c)
(const geometry_msgs::PoseStamped &pose, [ colors
](namespacerviz__visual__tools.html#abd3566ac96adb96a35044b029930e6e3) color=
[ BLUE
](namespacerviz__visual__tools.html#abd3566ac96adb96a35044b029930e6e3a6cd27d693df45662c3ecebdc4dc8b671)
, [ scales
](namespacerviz__visual__tools.html#a5b544decae321663ea907bb26338d835) scale=
[ MEDIUM
](namespacerviz__visual__tools.html#a5b544decae321663ea907bb26338d835a322895c45564210483089d04f6a07473)
, double [ length
](../../../api/tf2/html/namespacetf2.html#ab20034dc53b40043a702876ff38c78a1)
=0.0, std::size_t id=0)  
void  |  [ resetMarkerCounts
](classrviz__visual__tools_1_1RvizVisualTools.html#a110da4c039428fb2be5d5c109f3cc227)
<strong>Figure 1</strong><br/>
                                                    <p>Schematic depiction of reference frames of a robotic arm on a satellite base \(<b>left</b>\). Detail showing the end effector with the prismatic joint displacement \(<b>right</b>\).</p>
                                                ") [ ](https://pub.mdpi-res.com/aerospace/aerospace-09-00406/article_deploy/html/images/aerospace-09-00406-g002.png?1658994451 "
                        <strong>Figure 2</strong><br/>
                                                    <p>Various gripping strategies for interception of a space object. Dominant direction in each case is shown by the arrow.</p>
                                                ") [ ](https://pub.mdpi-res.com/aerospace/aerospace-09-00406/article_deploy/html/images/aerospace-09-00406-g003.png?1658994452 "
                        <strong>Figure 3</strong><br/>
                                                    <p>The simulated satellite robot and target body in the initial position \(<b>left</b>\), and during contact \(<b>right</b>\). The line of dominant direction of the final approach is shown by the dashed line.</p>
                                                ") [ ](https://pub.mdpi-res.com/aerospace/aerospace-09-00406/article_deploy/html/images/aerospace-09-00406-g004.png?1658994449 "
                        <strong>Figure 4</strong><br/>
                                                    <p>Comparison of time histories of the torques in robot joints. <b>Left</b>: model-based full robot impedance control, <b>right</b>: impedance control with single prismatic joint at the end effector.</p>
                                                ") [ ](https://pub.mdpi-res.com/aerospace/aerospace-09-00406/article_deploy/html/images/aerospace-09-00406-g005.png?1658994447 "
                        <strong>Figure 5</strong><br/>
                                                    <p>Contact force between the spheres simulating the end effector and the target. <b>Left</b>: model-based full robot impedance control, <b>right</b>: impedance control with a single prismatic joint at the end effector.</p>
                                                ")
Query controller state at any future time
##  Further information  
  * [ Trajectory Representation ](trajectory.html)
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  * [ joint_trajectory_controller Parameters ](parameters.html)
  * [ rqt_joint_trajectory_controller ](../../rqt_joint_trajectory_controller/doc/userdoc.html)
Footnote
[  1  ]  (  1  ,  2  ,  3  ,  4  )
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#  [JTC] Explicitly set hold position  #558
Merged
[ bmagyar ](/bmagyar) merged 65 commits into  [ ros-controls  :  master
](/ros-controls/ros2_controllers/tree/master "ros-
controls/ros2_controllers:master") from  [ christophfroehlich  :
jtc_hold_position
](/christophfroehlich/ros2_controllers/tree/jtc_hold_position
"christophfroehlich/ros2_controllers:jtc_hold_position") Aug 15, 2023
Merged
#  [JTC] Explicitly set hold position  #558
[ bmagyar ](/bmagyar) merged 65 commits into  [ ros-controls  :  master
maintain current configuration as hold position") Mar 31, 2023
[
![@christophfroehlich](https://avatars.githubusercontent.com/u/3367244?s=40&u=98db36351213b952b1c6ce663c1fde4108272539&v=4)
](/christophfroehlich) [ christophfroehlich ](/christophfroehlich) closed this
Mar 31, 2023
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this pull request  Mar 31, 2023
[ JTC: maintain current configuration as hold position  #531  ](/ros-
controls/ros2_controllers/pull/531)
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this pull request  Apr 8, 2023
[ [JTC] Reject trajectories with nonzero terminal velocity  #567  ](/ros-
controls/ros2_controllers/pull/567)
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**[ codecov-commenter ](/codecov-commenter) ** commented  Apr 27, 2023  •
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##  [ Codecov ](https://app.codecov.io/gh/ros-
controls/ros2_controllers/pull/558?src=pr&el=h1&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-
controls) Report
> Merging [ #558 ](https://app.codecov.io/gh/ros-
> controls/ros2_controllers/pull/558?src=pr&el=desc&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-
> controls) ( [ ` 0e82010 ` ](https://github.com/ros-