Propose generic messages for commanding and getting states from controllers. #69
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due to change breaking for existing Galactic distro
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AndyZe
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bmagyar
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(I apologize in advance if this is the wrong place for this). Would it be possible to backport these messages to the humble branch? |
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I don't see any problems in backporting them. |
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@Mergifyio backport humble |
✅ Backports have been created
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I propose here some new messages for sending commands to controllers.
This work was motivated by the implementation of the PID controller in ros2_controllers repository.
The message
MultiDOFCommandshould replacestd_msgs/MultiArrayFloat64currently used with the controllers.The former is deprecated, and a new message enables to set joint (or in general DOF) names, which makes it more explicit than just a list of values.
Other messages specify a generic status messages, providing flexibility about degrees of freedom.
The PR can also be separated if some messages are not so suitable.