Merge branch 'master' into rm/iron

ros-controls · Nov 18, 2024 · e830742 · e830742
2 parents 248945d + 94da4d9
commit e830742
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Showing 6 changed files with 22 additions and 1 deletion.
diff --git a/control_msgs/CHANGELOG.rst b/control_msgs/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package control_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+5.3.0 (2024-11-18)
+------------------
+* Add Dynamic Interface Group Values message (`#155 <https://github.com/ros-controls/control_msgs/issues/155>`_)
+* Add speed_scaling_factor msg and field in JointTrajectoryControllerState (`#143 <https://github.com/ros-controls/control_msgs/issues/143>`_)
+* Contributors: Felix Exner (fexner), Wiktor Bajor
+
 5.2.0 (2024-06-10)
 ------------------
 * Add message for publishing interface values with name and stamp (`#98 <https://github.com/ros-controls/control_msgs/issues/98>`_)

diff --git 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/DynamicInterfaceGroupValues.msg
   msg/DynamicInterfaceValues.msg
   msg/DynamicJointState.msg
   msg/GripperCommand.msg
@@ -37,6 +38,7 @@ set(msg_files
   msg/SingleDOFState.msg
   msg/SingleDOFStateStamped.msg
   msg/SteeringControllerStatus.msg
+  msg/SpeedScalingFactor.msg
 )
 
 set(action_files

diff --git a/control_msgs/msg/DynamicInterfaceGroupValues.msg b/control_msgs/msg/DynamicInterfaceGroupValues.msg
@@ -0,0 +1,6 @@
+std_msgs/Header header
+
+# List of interface group names , e.g. ["flange_analog_IOs", "flange_vacuum"]
+string[] interface_groups
+# Key-value pairs representing interfaces and their corresponding values for each interface group listed in `interface_groups`
+InterfaceValue[] interface_values
diff --git a/control_msgs/msg/JointTrajectoryControllerState.msg b/control_msgs/msg/JointTrajectoryControllerState.msg
@@ -22,3 +22,5 @@ trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_feedback
 trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_error
 # Current output of the controller.
 trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_output
+# The speed scaling factor the trajectory is currently being executed with
+float64 speed_scaling_factor
diff --git a/control_msgs/msg/SpeedScalingFactor.msg b/control_msgs/msg/SpeedScalingFactor.msg
@@ -0,0 +1,5 @@
+# This message contains a scaling factor to scale trajectory execution. A factor of 1.0 means
+# execution at normal speed, a factor of 0.0 means a full pause.
+# Negative values are not allowed (Which should be checked by any instance consuming this message).
+
+float64 factor
diff --git a/control_msgs/package.xml b/control_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>control_msgs</name>
-  <version>5.2.0</version>
+  <version>5.3.0</version>
   <description>
     control_msgs contains base messages and actions useful for
     controlling robots. It provides representations for controller