add action for new gripper controller

Signed-off-by: Paul Gesel <[email protected]>

control_msgs/CMakeLists.txt

@@ -39,6 +39,7 @@ set(msg_files
 )
 
 set(action_files
+  action/AntipodalGripperCommand.action
   action/FollowJointTrajectory.action
   action/GripperCommand.action
   action/JointTrajectory.action

control_msgs/action/AntipodalGripperCommand.action

@@ -0,0 +1,16 @@
+# Antipodal grippers refer to an end effector where two opposing fingers grasp an object from opposite sides.
+sensor_msgs/JointState command # The velocity and effort fields are optional and not used if empty.
+---
+sensor_msgs/JointState state # The current gripper state.
+# position refers to the gap size (in meters).
+# Optional: velocity refers to the Cartesian velocity of the finger right finger.
+# effort refers to the current effort exerted (in Newtons)
+bool stalled      # True iff the gripper is exerting max effort and not moving
+bool reached_goal # True iff the gripper position has reached the commanded setpoint
+---
+sensor_msgs/JointState state # The current gripper state.
+# position refers to the gap size (in meters).
+# Optional: velocity refers to the Cartesian velocity of the finger right finger.
+# effort refers to the current effort exerted (in Newtons)
+bool stalled      # True iff the gripper is exerting max effort and not moving
+bool reached_goal # True iff the gripper position has reached the commanded setpoint