<<PackageHeader(riq_msgs)>>
<<TOC(4)>>

= Introduction =
Contains ROS message definitions for communicating between RobotIQ Hand EtherCAT driver and the ROS.

= Messages =
 * RIQHandCommand : Used for sending commands to RobotIQ EtherCAT driver
 * RIQHandState  : State of RobotIQ Hand from EtherCAT driver
  * RIQActuatorState : Part of RIQHandState.  RobotIQ hand has 4 actuators.

= Future =
(Nov 9 2011) : There is discussion about creating a standard interface to the Robotiq Adaptive Gripper using a ROS Action interface of using ROS topics.  
Part of the motivation is to have stand ROS interface to Adaptive Grippers that are using different communication back-ends (EtherCAT, Modbus, DeviceNet, etc...)

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