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Add message to control a robot via linear velocity and steering position #217

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Merged
merged 5 commits into from
Jun 12, 2025
Merged

Add message to control a robot via linear velocity and steering position #217

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b41be27
Add drive&steering command for controllers
wittenator Jun 11, 2025
94cae0e
Merge branch 'ros-controls:master' into master
wittenator Jun 11, 2025
21f23fd
Precommit modifications included
wittenator Jun 11, 2025
13a8ae5
Merge commit
wittenator Jun 11, 2025
23b910b
Update control_msgs/msg/SteeringControllerCommand.msg
wittenator Jun 11, 2025
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1 change: 1 addition & 0 deletions control_msgs/CMakeLists.txt
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Expand Up @@ -30,6 +30,7 @@ set(msg_files
msg/SingleDOFState.msg
msg/SingleDOFStateStamped.msg
msg/SteeringControllerStatus.msg
msg/SteeringControllerCommand.msg
msg/SpeedScalingFactor.msg
)

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3 changes: 3 additions & 0 deletions control_msgs/msg/SteeringControllerCommand.msg
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@@ -0,0 +1,3 @@
std_msgs/Header header
float64 steering_angle # desired positions of the steering joints
float64 linear_velocity # desired linear velocity of the robot
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