Expand description
Robot protocol wire structs, one module per FCI version.
FCI version 10 (Franka Research 3, libfranka 0.21.2) lives in v10 and is re-exported
here, so that the rest of the crate can refer to wire::robot::RobotState without naming a
version. FCI version 5 (Franka Emika Robot, FER, libfranka 0.9.2) lives in v5 and is always
named explicitly.
codec is the seam between the two: it turns an codec::FciVersion plus
version-agnostic arguments into the right bytes, and version-specific bytes back into the
shared Rust types.
Re-exports§
pub use v10::*;
Modules§
- codec
- The version seam of the robot protocol.
- v5
- FCI version 5 wire structs (Franka Emika Robot, FER), ported from libfranka 0.9.2
(
common/include/research_interface/robot/{service_types.h,rbk_types.h}). - v10
- FCI version 10 wire structs, ported from libfranka 0.21.2
(
common/include/research_interface/robot/{service_types.h,rbk_types.h}).