From d2efe1886c1134feaee8afdc019da832358cd7d6 Mon Sep 17 00:00:00 2001 From: "Felix Exner (fexner)" Date: Thu, 7 Nov 2024 17:18:16 +0100 Subject: [PATCH 1/4] Add speed_scaling_factor msg and field in JointTrajectoryControllerState (#143) --- control_msgs/CMakeLists.txt | 1 + control_msgs/msg/JointTrajectoryControllerState.msg | 2 ++ control_msgs/msg/SpeedScalingFactor.msg | 5 +++++ 3 files changed, 8 insertions(+) create mode 100644 control_msgs/msg/SpeedScalingFactor.msg diff --git a/control_msgs/CMakeLists.txt b/control_msgs/CMakeLists.txt index 6723c0d..be3bda8 100644 --- a/control_msgs/CMakeLists.txt +++ b/control_msgs/CMakeLists.txt @@ -37,6 +37,7 @@ set(msg_files msg/SingleDOFState.msg msg/SingleDOFStateStamped.msg msg/SteeringControllerStatus.msg + msg/SpeedScalingFactor.msg ) set(action_files diff --git a/control_msgs/msg/JointTrajectoryControllerState.msg b/control_msgs/msg/JointTrajectoryControllerState.msg index 5678ed0..afb5c1e 100644 --- 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 new file mode 100644 index 0000000..4826ac0 --- /dev/null +++ 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 From 0b9753ee922273d2fc421a101e67570e7c552e81 Mon Sep 17 00:00:00 2001 From: Wiktor Bajor <69388767+Wiktor-99@users.noreply.github.com> Date: Fri, 15 Nov 2024 15:35:28 +0100 Subject: [PATCH 2/4] Add Dynamic Interface Group Values message (#155) --- control_msgs/CMakeLists.txt | 1 + control_msgs/msg/DynamicInterfaceGroupValues.msg | 6 ++++++ 2 files changed, 7 insertions(+) create mode 100644 control_msgs/msg/DynamicInterfaceGroupValues.msg diff --git a/control_msgs/CMakeLists.txt b/control_msgs/CMakeLists.txt index be3bda8..52240e0 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/DynamicInterfaceGroupValues.msg msg/DynamicInterfaceValues.msg msg/DynamicJointState.msg msg/GripperCommand.msg diff --git a/control_msgs/msg/DynamicInterfaceGroupValues.msg b/control_msgs/msg/DynamicInterfaceGroupValues.msg new file mode 100644 index 0000000..ff65ba6 --- /dev/null +++ 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 From a1931273de79d60ae36e82a8d207e36dc4ce5f14 Mon Sep 17 00:00:00 2001 From: Bence Magyar Date: Mon, 18 Nov 2024 11:09:02 +0000 Subject: [PATCH 3/4] Update changelog --- control_msgs/CHANGELOG.rst | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/control_msgs/CHANGELOG.rst b/control_msgs/CHANGELOG.rst index 183415d..8d6f05d 100644 --- a/control_msgs/CHANGELOG.rst +++ b/control_msgs/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package control_msgs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Add Dynamic Interface Group Values message (`#155 `_) +* Add speed_scaling_factor msg and field in JointTrajectoryControllerState (`#143 `_) +* Contributors: Felix Exner (fexner), Wiktor Bajor + 5.2.0 (2024-06-10) ------------------ * Add message for publishing interface values with name and stamp (`#98 `_) From 94da4d9a4275753a0df22f16b64dd69f4aeeb926 Mon Sep 17 00:00:00 2001 From: Bence Magyar Date: Mon, 18 Nov 2024 11:09:16 +0000 Subject: [PATCH 4/4] 5.3.0 --- control_msgs/CHANGELOG.rst | 4 ++-- control_msgs/package.xml | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/control_msgs/CHANGELOG.rst b/control_msgs/CHANGELOG.rst index 8d6f05d..e7cddee 100644 --- a/control_msgs/CHANGELOG.rst +++ b/control_msgs/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package control_msgs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +5.3.0 (2024-11-18) +------------------ * Add Dynamic Interface Group Values message (`#155 `_) * Add speed_scaling_factor msg and field in JointTrajectoryControllerState (`#143 `_) * Contributors: Felix Exner (fexner), Wiktor Bajor diff --git a/control_msgs/package.xml b/control_msgs/package.xml index d7c79ca..ca3fb58 100644 --- a/control_msgs/package.xml +++ b/control_msgs/package.xml @@ -2,7 +2,7 @@ control_msgs - 5.2.0 + 5.3.0 control_msgs contains base messages and actions useful for controlling robots. It provides representations for controller