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Add admittance controller message #68

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Merged
destogl merged 9 commits into from
Oct 5, 2022
Merged

Add admittance controller message #68

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1416954
Revert "Added controller states for multi dof joints (#64)"
bmagyar Aug 1, 2022
c1e9535
Add initial configurations for multiple distros. (#59)
destogl Jul 3, 2021
3ee4c8a
Merge branch 'galactic-devel' of https://github.com/ros-controls/cont…
pac48 Aug 22, 2022
2960f8b
add message comments
pac48 Aug 22, 2022
c022764
add to sensor messages package.xml
pac48 Aug 22, 2022
c8f630f
Formatting and better comments
Sep 23, 2022
a6437f4
Merge branch 'humble' into add-admittance-controller
bmagyar Sep 28, 2022
ab33fd6
Revert changes on Trajectory messge
destogl Oct 5, 2022
f354437
Update JointTrajectoryControllerState.msg
destogl Oct 5, 2022
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4 changes: 3 additions & 1 deletion control_msgs/CMakeLists.txt
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Expand Up @@ -16,9 +16,11 @@ find_package(rosidl_default_generators REQUIRED)
find_package(action_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
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find_package(trajectory_msgs REQUIRED)

set(msg_files
msg/AdmittanceControllerState.msg
msg/DynamicJointState.msg
msg/GripperCommand.msg
msg/InterfaceValue.msg
Expand Down Expand Up @@ -52,7 +54,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
${msg_files}
${srv_files}
${action_files}
DEPENDENCIES action_msgs builtin_interfaces geometry_msgs std_msgs trajectory_msgs
DEPENDENCIES action_msgs builtin_interfaces geometry_msgs std_msgs trajectory_msgs sensor_msgs
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ADD_LINTER_TESTS
)
ament_export_dependencies(rosidl_default_runtime)
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12 changes: 12 additions & 0 deletions control_msgs/msg/AdmittanceControllerState.msg
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@@ -0,0 +1,12 @@
sensor_msgs/JointState joint_state # calculated admittance offsets in joint space
std_msgs/Float64MultiArray damping # 6-vector of damping terms used in the admittance calculation
std_msgs/Float64MultiArray mass # 6-vector of mass terms used in the admittance calculation
std_msgs/Int8MultiArray selected_axes # 6-vector of 0/1 describing if admittance is enable in the correspondence control frame axis
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std_msgs/Float64MultiArray stiffness # 6-vector of stiffness terms used in the admittance calculation
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geometry_msgs/WrenchStamped wrench_base # wrench used in the admittance calculation
geometry_msgs/TwistStamped admittance_acceleration # calculated admittance acceleration in cartesian space
geometry_msgs/TwistStamped admittance_velocity # calculated admittance velocity in cartesian space
geometry_msgs/TransformStamped admittance_position # calculated admittance position in cartesian space
geometry_msgs/Quaternion rot_base_control # quaternion describing the orientation of the control frame
geometry_msgs/TransformStamped ref_trans_base_ft # force torque sensor transform at the reference joint configuration
std_msgs/String ft_sensor_frame # name of the force torque frame
6 changes: 0 additions & 6 deletions control_msgs/msg/JointTrajectoryControllerState.msg
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@@ -1,11 +1,5 @@
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
1 change: 1 addition & 0 deletions control_msgs/package.xml
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Expand Up @@ -20,6 +20,7 @@
<depend>builtin_interfaces</depend>
<depend>geometry_msgs</depend>
<depend>std_msgs</depend>
<depend>sensor_msgs</depend>
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<depend>trajectory_msgs</depend>

<exec_depend>rosidl_default_runtime</exec_depend>
Expand Down