submodule

control_msgs @ 36e2e305

-Subproject commit 36e2e30551e3f2bfd9e55fca553f1ef019f4e4b1

src/control_msgs/CHANGELOG.rst

+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package control_msgs
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+5.0.0 (2023-04-28)
+------------------
+* Update JTC state message (`#86 <https://github.com/ros-controls/control_msgs/issues/86>`_)
+* Contributors: Christoph Fröhlich
+
+4.3.0 (2023-04-02)
+------------------
+* Add generic messages for commanding and getting states from controllers. (`#69 <https://github.com/ros-controls/control_msgs/issues/69>`_)
+* Contributors: Dr. Denis
+
+4.2.0 (2023-03-22)
+------------------
+* Add state message for mechanum controller #79
+* Status message for steering controllers
+* Contributors: Denis Štogl, GiridharBukka, petkovich
+
+4.1.0 (2022-10-19)
+------------------
+* Add status admittance controller message (`#68 <https://github.com/ros-controls/control_msgs/issues/68>`_)
+* Contributors: Paul Gesel
+
+4.0.0 (2022-08-01)
+------------------
+* Added controller states for multi dof joints (`#64 <https://github.com/ros-controls/control_msgs/issues/64>`_)
+* Add initial configurations for multiple distros. (`#59 <https://github.com/ros-controls/control_msgs/issues/59>`_)
+  * Add CI configuration with multiple ROS distributions and use pre-commit in the repository.
+  * Add badges
+* Contributors: Denis Štogl, George Stavrinos
+
+3.0.0 (2021-05-27)
+------------------
+* Extend FollowJointTrajectoryAction with multi_dof_trajectory variable
+  https://github.com/ros-controls/control_msgs/pull/55
+* Refractor dependency list for better overview.
+* Contributors: Bence Magyar, David V. Lu, Denis Štogl, JafarAbdi
+
+2.5.0 (2021-01-22)
+------------------
+* Extend QueryTrajectoryState to allow to report errors
+* Contributors: Victor Lopez
+
+2.4.1 (2020-08-01)
+------------------
+* Move author field lower in package.xml
+* Don't define C standard
+* Define package.xml schema for validator
+* depend -> build_depend, exec_depend
+* Contributors: Bence Magyar, ahcorde
+
+2.4.0 (2020-07-03)
+------------------
+* Add std_msgs prefix path to header
+* Add JointJog msg to ROS 2 - foxy
+* Contributors: AdamPettinger, AndyZe
+
+2.3.0 (2020-05-16)
+------------------
+* Implement "flexible joint states" message: add DynamicJointState message
+* add description of JointControllerState.msg (`#30 <https://github.com/ros-controls/control_msgs/issues/30>`_) (`#39 <https://github.com/ros-controls/control_msgs/issues/39>`_)
+* Contributors: Bence Magyar
+
+2.2.0 (2019-09-09)
+------------------
+* generate action interfaces
+* Contributors: Mathias Lüdtke
+
+2.1.0 (2019-01-29)
+------------------
+* Fix up dependencies for actionlib and Crystal
+* Contributors: Bence Magyar
+
+2.0.0 (2019-01-25)
+------------------
+* ROS2 Bouncy conversion
+* Replace Adolfo with Bence as maintainer
+* Contributors: Austin Deric, Bence Magyar, Nestor Gonzalez
+
+1.4.0 (2016-04-15)
+------------------
+* Add antiwindup to JointControllerState message definition
+* Add PidState message
+* Contributors: Paul Bovbel
+
+1.3.1 (2015-03-05)
+------------------
+* Export architecture_independent flag in package.xml
+* Change package maintainer.
+* Contributors: Adolfo Rodriguez Tsouroukdissian, Scott K Logan
+
+1.3.0 (2014-02-27)
+------------------
+* Add error_string to action result.
+* Contributors: Adolfo Rodriguez Tsouroukdissian
+
+1.2.0 (2013-04-25)
+------------------
+
+1.1.6 (2013-02-11)
+------------------
+* adds missing feedback field to PointHeadAction
+* Contributors: Adam Leeper
+
+1.1.5 (2013-01-23)
+------------------
+* changes PointHeadAction.action to PointHead.action
+* Contributors: Adam Leeper
+
+1.1.4 (2013-01-22)
+------------------
+* this now contains all messages, services and actions that used to be in ros_controllers and/or pr2_controllers_msgs
+* copy JointControllerState and JointTrajectoryControllerState  from pr2_controllers_msgs
+* copy GripperCommand from pr2_controllers_msgs
+* modified dep type of catkin
+* Contributors: Dirk Thomas, Ioan Sucan
+
+1.1.3 (2012-12-13)
+------------------
+* fix dep
+* add missing downstream depend
+* switched from langs to message_* packages
+* Contributors: Dirk Thomas
+
+1.1.2 (2012-12-03)
+------------------
+
+1.1.1 (2012-11-19 15:52)
+------------------------
+* added metapackage for backward compatibility
+* Contributors: Ioan Sucan
+
+1.1.0 (2012-11-19 14:54)
+------------------------
+* port to catkin
+* add bogus dependency on rospy, to get ros_comm
+* Added documentation for the FollowJointTrajectory action and the JointTolerance message.
+* Added PointHeadAction to control_msgs
+* First cut at a FollowJointTrajectory action
+* Contributors: Brian Gerkey, Ioan Sucan, Stuart Glaser

src/control_msgs/CMakeLists.txt

+cmake_minimum_required(VERSION 3.5)
+
+project(control_msgs)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(action_msgs REQUIRED)
+find_package(ament_cmake REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(trajectory_msgs REQUIRED)
+
+set(msg_files
+  msg/AdmittanceControllerState.msg
+  msg/DynamicJointState.msg
+  msg/GripperCommand.msg
+  msg/InterfaceValue.msg
+  msg/JointComponentTolerance.msg
+  msg/JointControllerState.msg
+  msg/JointJog.msg
+  msg/JointTolerance.msg
+  msg/JointTrajectoryControllerState.msg
+  msg/MecanumDriveControllerState.msg
+  msg/MultiDOFCommand.msg
+  msg/MultiDOFStateStamped.msg
+  msg/PidState.msg
+  msg/SingleDOFState.msg
+  msg/SingleDOFStateStamped.msg
+  msg/SteeringControllerStatus.msg
+)
+
+set(action_files
+  action/FollowJointTrajectory.action
+  action/GripperCommand.action
+  action/JointTrajectory.action
+  action/PointHead.action
+  action/SingleJointPosition.action
+)
+
+set(srv_files
+  srv/QueryCalibrationState.srv
+  srv/QueryTrajectoryState.srv
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${action_files}
+  ${msg_files}
+  ${srv_files}
+  DEPENDENCIES
+    action_msgs
+    builtin_interfaces
+    geometry_msgs
+    sensor_msgs
+    std_msgs
+    trajectory_msgs
+  ADD_LINTER_TESTS
+)
+ament_export_dependencies(rosidl_default_runtime)
+ament_package()

src/control_msgs/action/FollowJointTrajectory.action

+# The trajectory for all revolute, continuous or prismatic joints
+trajectory_msgs/JointTrajectory trajectory
+# The trajectory for all planar or floating joints (i.e. individual joints with more than one DOF)
+trajectory_msgs/MultiDOFJointTrajectory multi_dof_trajectory
+
+# Tolerances for the trajectory.  If the measured joint values fall
+# outside the tolerances the trajectory goal is aborted.  Any
+# tolerances that are not specified (by being omitted or set to 0) are
+# set to the defaults for the action server (often taken from the
+# parameter server).
+
+# Tolerances applied to the joints as the trajectory is executed.  If
+# violated, the goal aborts with error_code set to
+# PATH_TOLERANCE_VIOLATED.
+JointTolerance[] path_tolerance
+JointComponentTolerance[] component_path_tolerance
+
+# To report success, the joints must be within goal_tolerance of the
+# final trajectory value.  The goal must be achieved by time the
+# trajectory ends plus goal_time_tolerance.  (goal_time_tolerance
+# allows some leeway in time, so that the trajectory goal can still
+# succeed even if the joints reach the goal some time after the
+# precise end time of the trajectory).
+#
+# If the joints are not within goal_tolerance after "trajectory finish
+# time" + goal_time_tolerance, the goal aborts with error_code set to
+# GOAL_TOLERANCE_VIOLATED
+JointTolerance[] goal_tolerance
+JointComponentTolerance[] component_goal_tolerance
+builtin_interfaces/Duration goal_time_tolerance
+
+---
+int32 error_code
+int32 SUCCESSFUL = 0
+int32 INVALID_GOAL = -1
+int32 INVALID_JOINTS = -2
+int32 OLD_HEADER_TIMESTAMP = -3
+int32 PATH_TOLERANCE_VIOLATED = -4
+int32 GOAL_TOLERANCE_VIOLATED = -5
+
+# Human readable description of the error code. Contains complementary
+# information that is especially useful when execution fails, for instance:
+# - INVALID_GOAL: The reason for the invalid goal (e.g., the requested
+#   trajectory is in the past).
+# - INVALID_JOINTS: The mismatch between the expected controller joints
+#   and those provided in the goal.
+# - PATH_TOLERANCE_VIOLATED and GOAL_TOLERANCE_VIOLATED: Which joint
+#   violated which tolerance, and by how much.
+string error_string
+
+---
+std_msgs/Header header
+string[] joint_names
+trajectory_msgs/JointTrajectoryPoint desired
+trajectory_msgs/JointTrajectoryPoint actual
+trajectory_msgs/JointTrajectoryPoint error
+
+string[] multi_dof_joint_names
+trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_desired
+trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_actual
+trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_error

src/control_msgs/action/GripperCommand.action

+GripperCommand command
+---
+float64 position  # The current gripper gap size (in meters)
+float64 effort    # The current effort exerted (in Newtons)
+bool stalled      # True iff the gripper is exerting max effort and not moving
+bool reached_goal # True iff the gripper position has reached the commanded setpoint
+---
+float64 position  # The current gripper gap size (in meters)
+float64 effort    # The current effort exerted (in Newtons)
+bool stalled      # True iff the gripper is exerting max effort and not moving
+bool reached_goal # True iff the gripper position has reached the commanded setpoint

src/control_msgs/action/JointTrajectory.action

+trajectory_msgs/JointTrajectory trajectory
+---
+---

src/control_msgs/action/PointHead.action

+geometry_msgs/PointStamped target
+geometry_msgs/Vector3 pointing_axis
+string pointing_frame
+builtin_interfaces/Duration min_duration
+float64 max_velocity
+---
+---
+float64 pointing_angle_error

src/control_msgs/action/SingleJointPosition.action

+float64 position
+builtin_interfaces/Duration min_duration
+float64 max_velocity
+---
+---
+std_msgs/Header header
+float64 position
+float64 velocity
+float64 error

src/control_msgs/msg/AdmittanceControllerState.msg

+# Admittance parameters
+std_msgs/Float64MultiArray mass  # 6-vector of mass terms used in the admittance calculation
+std_msgs/Float64MultiArray damping # 6-vector of damping terms used in the admittance calculation
+std_msgs/Float64MultiArray stiffness # 6-vector of stiffness terms used in the admittance calculation
+
+# Frame information
+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/Int8MultiArray selected_axes # 6-vector of 0/1 describing if admittance is enable in the corresponding control frame axis
+std_msgs/String ft_sensor_frame # name of the force torque frame
+
+# State information
+geometry_msgs/TransformStamped admittance_position # calculated admittance position in cartesian space
+geometry_msgs/TwistStamped admittance_acceleration # calculated admittance acceleration in cartesian space
+geometry_msgs/TwistStamped admittance_velocity # calculated admittance velocity in cartesian space
+geometry_msgs/WrenchStamped wrench_base # wrench used in the admittance calculation
+sensor_msgs/JointState joint_state # calculated admittance offsets in joint space

src/control_msgs/msg/DynamicJointState.msg

+std_msgs/Header header
+
+# List of resource names, e.g. ["arm_joint_1", "arm_joint_2", "gripper_joint"]
+string[] joint_names
+# Key-value pairs representing interfaces and their corresponding values for each joint listed in `joint_names`
+InterfaceValue[] interface_values

src/control_msgs/msg/GripperCommand.msg

+float64 position
+float64 max_effort

src/control_msgs/msg/InterfaceValue.msg

+# List of resource interface names
+string[] interface_names
+# Values corresponding to the list of interfaces in `interface_names`, [1.0, 0.0] for example
+float64[] values

src/control_msgs/msg/JointComponentTolerance.msg

+# Version of JointTolerance.msg with added component field for joints with multiple degrees of freedom
+# The difference between two MultiDOFJointTrajectoryPoint cannot be represented as a single number,
+# hence we use the component field to represent how to calculate the difference in a way that can
+# be represented as a single number.
+
+# Since each joint has multiple degrees of freedom,
+# there can be multiple tolerances for each joint, each looking
+# at different components.
+
+# If the component is X_AXIS, Y_AXIS, or Z_AXIS, then the tolerance
+# is only applied for the specific axis.
+# However, if the component is TRANSLATION, then the tolerance is for
+# the overall Euclidean distance.
+# For these components, the units are meters, meters/sec and meters/sec^2.
+# Z_AXIS is only valid with a floating joint, not planar.
+
+# If the component is ROTATION the tolerance is measured in
+# radians, radians/sec and radians/sec^2, computed
+# between the difference in quaternions.
+
+uint16 X_AXIS=1
+uint16 Y_AXIS=2
+uint16 Z_AXIS=3
+uint16 TRANSLATION=4
+uint16 ROTATION=5
+
+string joint_name
+uint16 component
+float64 position
+float64 velocity
+float64 acceleration

src/control_msgs/msg/JointControllerState.msg

+# This message presents current controller state of one joint.
+
+# It is deprecated as of Humble in favor of SingleDOFStateStamped.msg
+
+# Header timestamp should be update time of controller state
+std_msgs/Header header
+
+# The set point, that is, desired state.
+float64 set_point
+
+# Current value of the process (ie: latest sensor measurement on the controlled value).
+float64 process_value
+
+# First time-derivative of the process value.
+float64 process_value_dot
+
+# The error of the controlled value, essentially process_value - set_point (for a regular PID implementation).
+float64 error
+
+# Time between two consecutive updates/execution of the control law.
+float64 time_step
+
+# Current output of the controller.
+float64 command
+
+# Current PID parameters of the controller.
+float64 p
+float64 i
+float64 d
+float64 i_clamp
+bool antiwindup

src/control_msgs/msg/JointJog.msg

+# Used in time-stamping the message.
+std_msgs/Header header
+
+# Name list of the joints. You don't need to specify all joints of the
+# robot. Joint names are case-sensitive.
+string[] joint_names
+
+# A position command to the joints listed in joint_names.
+# The order must be identical.
+# Units are meters or radians.
+# If displacements and velocities are filled, a profiled motion is requested.
+float64[] displacements # or position_deltas
+
+# A velocity command to the joints listed in joint_names.
+# The order must be identical.
+# Units are m/s or rad/s.
+# If displacements and velocities are filled, a profiled motion is requested.
+float64[] velocities
+
+float64 duration

src/control_msgs/msg/JointTolerance.msg

+# The tolerances specify the amount the position, velocity, and
+# accelerations can vary from the setpoints.  For example, in the case
+# of trajectory control, when the actual position varies beyond
+# (desired position + position tolerance), the trajectory goal may
+# abort.
+#
+# There are two special values for tolerances:
+#  * 0 - The tolerance is unspecified and will remain at whatever the default is
+#  * -1 - The tolerance is "erased".  If there was a default, the joint will be
+#         allowed to move without restriction.
+
+string name
+float64 position  # in radians or meters (for a revolute or prismatic joint, respectively)
+float64 velocity  # in rad/sec or m/sec
+float64 acceleration  # in rad/sec^2 or m/sec^2

src/control_msgs/msg/JointTrajectoryControllerState.msg

+# This message presents current controller state of JTC
+
+# Header timestamp should be update time of controller state
+std_msgs/Header header
+
+string[] joint_names
+# The set point, that is, desired state.
+trajectory_msgs/JointTrajectoryPoint reference
+# Current value of the process (ie: latest sensor measurement on the controlled value).
+trajectory_msgs/JointTrajectoryPoint feedback
+# The error of the controlled value, essentially reference - feedback (for a regular PID implementation).
+trajectory_msgs/JointTrajectoryPoint error
+# Current output of the controller.
+trajectory_msgs/JointTrajectoryPoint output
+
+string[] multi_dof_joint_names
+# The set point, that is, desired state.
+trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_reference
+# Current value of the process (ie: latest sensor measurement on the controlled value).
+trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_feedback
+# The error of the controlled value, essentially reference - feedback (for a regular PID implementation).
+trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_error
+# Current output of the controller.
+trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_output

src/control_msgs/msg/MecanumDriveControllerState.msg

+std_msgs/Header header
+float64 front_left_wheel_velocity
+float64 back_left_wheel_velocity
+float64 back_right_wheel_velocity
+float64 front_right_wheel_velocity
+geometry_msgs/Twist reference_velocity

src/control_msgs/msg/MultiDOFCommand.msg

+# The message defines command for multiple degrees of freedom (DoF) typically used by many controllers.
+# The message intentionally avoids 'joint' nomenclature because it can be generally use for command with
+# different semantic meanings, e.g., joints, Cartesian axes, or have abstract meaning like GPIO interface.
+
+# names of degrees of freedom
+string[] dof_names
+
+# values used by most of the controller
+float64[] values
+
+# First derivation of the values, e.g., velocity if values are positions.
+# This is useful for PID and similar controllers.
+float64[] values_dot

src/control_msgs/msg/MultiDOFStateStamped.msg

+# This message presents current controller state of multiple degrees of freedom.
+
+# Header timestamp should be update time of controller state
+std_msgs/Header header
+
+SingleDOFState[] dof_states