From 8bc3eed250e60b845ff6df1e6a0bdc42f76fe2b2 Mon Sep 17 00:00:00 2001 From: Ethan Gordon Date: Thu, 12 Aug 2021 16:00:35 -0700 Subject: [PATCH 1/2] Copied control_msgs commit here for internal testing. --- action/JointGroupCommand.action | 34 +++++++++++++++++++++++++++++++++ 1 file changed, 34 insertions(+) create mode 100644 action/JointGroupCommand.action diff --git a/action/JointGroupCommand.action b/action/JointGroupCommand.action new file mode 100644 index 0000000..9272637 --- /dev/null +++ b/action/JointGroupCommand.action @@ -0,0 +1,34 @@ +# Used in time-stamping the goal. +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 command to the joints listed in joint_names. +# Can be position, velocity, effort, and/or acceleration. +# The order must be identical. +# time_from_start is the command duration / timeout +# Set to 0 for no timeout. +trajectory_msgs/JointTrajectoryPoint command + +--- +int32 error_code +int32 SUCCESSFUL = 0 +int32 INVALID_GOAL = -1 +int32 INVALID_JOINTS = -2 +int32 OLD_HEADER_TIMESTAMP = -3 + +# 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 +# command violates the controller limits). +# - INVALID_JOINTS: The mismatch between the expected controller joints +# and those provided in the goal. +string error_string + +--- +Header header +string[] joint_names +trajectory_msgs/JointTrajectoryPoint desired +trajectory_msgs/JointTrajectoryPoint actual From 2bfaaba306c3aec0a5c6230ef327c4d4309ab96c Mon Sep 17 00:00:00 2001 From: Ethan Gordon Date: Thu, 12 Aug 2021 16:18:25 -0700 Subject: [PATCH 2/2] Add action to CMakeLists --- CMakeLists.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/CMakeLists.txt b/CMakeLists.txt index 0590f1c..6806fcb 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -13,6 +13,7 @@ add_action_files( SetForceTorqueThreshold.action SetPosition.action Trigger.action + JointGroupCommand.action ) generate_messages(DEPENDENCIES