Skip to content

Added controller states feedback for multi dof joints #64

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
destogl merged 1 commit into from
Nov 9, 2021
Merged

Added controller states feedback for multi dof joints #64

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 6 additions & 0 deletions control_msgs/msg/JointTrajectoryControllerState.msg
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,5 +1,11 @@
std_msgs/Header header

string[] joint_names
trajectory_msgs/JointTrajectoryPoint desired
trajectory_msgs/JointTrajectoryPoint actual
trajectory_msgs/JointTrajectoryPoint error # Redundant, but useful

string[] multi_dof_joint_names
trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_desired
trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_actual
trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_error # Redundant, but useful