From 2f97ed10eebe5186f9b5c356db294d3d0772f18c Mon Sep 17 00:00:00 2001 From: Manuel M Date: Thu, 21 Dec 2023 15:37:33 +0100 Subject: [PATCH 1/3] add msg for publishing of interface values with name and stamp --- control_msgs/CMakeLists.txt | 2 ++ control_msgs/msg/DynamicInterfaceValues.msg | 2 ++ control_msgs/msg/SingleInterfaceValue.msg | 6 ++++++ 3 files changed, 10 insertions(+) create mode 100644 control_msgs/msg/DynamicInterfaceValues.msg create mode 100644 control_msgs/msg/SingleInterfaceValue.msg diff --git a/control_msgs/CMakeLists.txt b/control_msgs/CMakeLists.txt index fa2ed67..03caee9 100644 --- a/control_msgs/CMakeLists.txt +++ b/control_msgs/CMakeLists.txt @@ -21,6 +21,7 @@ find_package(trajectory_msgs REQUIRED) set(msg_files msg/AdmittanceControllerState.msg + msg/DynamicInterfaceValues.msg msg/DynamicJointState.msg msg/GripperCommand.msg msg/InterfaceValue.msg @@ -35,6 +36,7 @@ set(msg_files msg/PidState.msg msg/SingleDOFState.msg msg/SingleDOFStateStamped.msg + msg/SingleInterfaceValue.msg msg/SteeringControllerStatus.msg ) diff --git a/control_msgs/msg/DynamicInterfaceValues.msg b/control_msgs/msg/DynamicInterfaceValues.msg new file mode 100644 index 0000000..d517eeb --- /dev/null +++ b/control_msgs/msg/DynamicInterfaceValues.msg @@ -0,0 +1,2 @@ +SingleInterfaceValue[] state_interface_values +SingleInterfaceValue[] command_interface_values diff --git a/control_msgs/msg/SingleInterfaceValue.msg b/control_msgs/msg/SingleInterfaceValue.msg new file mode 100644 index 0000000..897d9d1 --- /dev/null +++ b/control_msgs/msg/SingleInterfaceValue.msg @@ -0,0 +1,6 @@ +std_msgs/Header header + +# Full qualified interface name e.g. "joint1/position" +string interface_name +# Value corresponding to the interface +float64 value From db432ba96b64c17555ed6a5a8889395b82a49c72 Mon Sep 17 00:00:00 2001 From: Manuel M Date: Fri, 22 Dec 2023 16:57:18 +0100 Subject: [PATCH 2/3] code review suggestions --- control_msgs/CMakeLists.txt | 1 - control_msgs/msg/DynamicInterfaceValues.msg | 6 ++++-- control_msgs/msg/InterfaceValue.msg | 2 +- control_msgs/msg/SingleInterfaceValue.msg | 6 ------ 4 files changed, 5 insertions(+), 10 deletions(-) delete mode 100644 control_msgs/msg/SingleInterfaceValue.msg diff --git a/control_msgs/CMakeLists.txt b/control_msgs/CMakeLists.txt index 03caee9..807aa63 100644 --- a/control_msgs/CMakeLists.txt +++ b/control_msgs/CMakeLists.txt @@ -36,7 +36,6 @@ set(msg_files msg/PidState.msg msg/SingleDOFState.msg msg/SingleDOFStateStamped.msg - msg/SingleInterfaceValue.msg msg/SteeringControllerStatus.msg ) diff --git a/control_msgs/msg/DynamicInterfaceValues.msg b/control_msgs/msg/DynamicInterfaceValues.msg index d517eeb..ea397d4 100644 --- a/control_msgs/msg/DynamicInterfaceValues.msg +++ b/control_msgs/msg/DynamicInterfaceValues.msg @@ -1,2 +1,4 @@ -SingleInterfaceValue[] state_interface_values -SingleInterfaceValue[] command_interface_values +std_msgs/Header header + +InterfaceValue states +InterfaceValue commands diff --git a/control_msgs/msg/InterfaceValue.msg b/control_msgs/msg/InterfaceValue.msg index b3364c8..1ec38d8 100644 --- a/control_msgs/msg/InterfaceValue.msg +++ b/control_msgs/msg/InterfaceValue.msg @@ -1,4 +1,4 @@ # 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 +float64[] values \ No newline at end of file diff --git a/control_msgs/msg/SingleInterfaceValue.msg b/control_msgs/msg/SingleInterfaceValue.msg deleted file mode 100644 index 897d9d1..0000000 --- a/control_msgs/msg/SingleInterfaceValue.msg +++ /dev/null @@ -1,6 +0,0 @@ -std_msgs/Header header - -# Full qualified interface name e.g. "joint1/position" -string interface_name -# Value corresponding to the interface -float64 value From 6bda56e008322e29bfaf5784d9b1d60b4039fdc4 Mon Sep 17 00:00:00 2001 From: Bence Magyar Date: Mon, 10 Jun 2024 20:38:17 +0100 Subject: [PATCH 3/3] fix end of fi le --- control_msgs/msg/InterfaceValue.msg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/control_msgs/msg/InterfaceValue.msg b/control_msgs/msg/InterfaceValue.msg index 1ec38d8..b3364c8 100644 --- a/control_msgs/msg/InterfaceValue.msg +++ b/control_msgs/msg/InterfaceValue.msg @@ -1,4 +1,4 @@ # 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 \ No newline at end of file +float64[] values