Added service to set force mode

CMakeLists.txt

@@ -20,6 +20,7 @@ set(srv_files
  srv/SetPayload.srv
  srv/SetSpeedSliderFraction.srv
  srv/SetIO.srv
+ srv/SetForceMode.srv
 )
 
 if(BUILD_TESTING)

srv/SetForceMode.srv

@@ -0,0 +1,29 @@
+# A 6d pose that defines the force frame. Must be static relative to the robot's base frame.
+geometry_msgs/PoseStamped task_frame
+
+# 1 means that the robot will be compliant in the corresponding axis of the task frame
+bool selection_vector_x
+bool selection_vector_y
+bool selection_vector_z
+bool selection_vector_rx
+bool selection_vector_ry
+bool selection_vector_rz
+
+# The forces/torques the robot will apply to its environment. For geometric interpretation, please
+# see parameter `type`
+geometry_msgs/Wrench wrench
+
+# An integer [1;3] specifying how the robot interprets the force frame
+# 1: The force frame is transformed in a way such that its y-axis is aligned with a vector pointing
+# from the robot tcp towards the origin of the force frame.
+# 2: The force frame is not transformed.
+# 3: The force frame is transformed in a way such that its x-axis is the projection of the robot tcp
+# velocity vector onto the x-y plane of the force frame.
+uint8 type
+
+# For compliant axes, these values are the maximum allowed tcp speed along/about the axis.
+# For non-compliant axes, these values are the maximum allowed deviation along/about an axis
+# between the actual tcp position and the one set by the program.
+float32[6] limits
+---
+bool success