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Add under review action from upstream control_msgs #3

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Aug 13, 2021
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1 change: 1 addition & 0 deletions CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@ add_action_files(
SetForceTorqueThreshold.action
SetPosition.action
Trigger.action
JointGroupCommand.action
)

generate_messages(DEPENDENCIES
Expand Down
34 changes: 34 additions & 0 deletions action/JointGroupCommand.action
Original file line number Diff line number Diff line change
@@ -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