APPENDIX A
 STANDARD JAUS MESSAGES

 This Appendix contains information pertaining to the "Set Wrench Effort" and

"Query Global Pose" standard JAUS messages, as well as a list of the core JAUS

message set.

 A.1 Query Global Pose

 The command code for this message is defined as 0x2402 and causes the receiving

component to respond with a "Report Global Pose" message. Table A-i depicts the data

field assignments for the "Query Global Pose" message [10].



Table A-i: "Query Global Pose" data field (used from JAUS: Reference Architecture
 Specification, pg. 93)
 Field # Name Type Units Interpretation
 Presence Unsigned A See Report Global Pose
 Vector Short Message





 A.2 Set Wrench Effort

 The command code for this message is defined as 0x0405 and controls platform

mobility actuators by mapping the six propulsive and six resistive elements that comprise

a wrench command to the mobility actuators of a vehicle. Table A-2 depicts the data

field assignments for the "Set Wrench Effort" message [10].