Added joint_state_hint for storing nullspace parameter. (#63)

PickNikRobotics · Oct 9, 2024 · 15f7ee4 · 15f7ee4
1 parent 7ace33d
commit 15f7ee4
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/moveit_studio_msgs/moveit_pro_controllers_msgs/msg/VelocityForceCommand.msg b/moveit_studio_msgs/moveit_pro_controllers_msgs/msg/VelocityForceCommand.msg
@@ -22,3 +22,8 @@ float64 wrench_gain
 # These can be modified at any time, and the controller will do its best to achieve them.
 geometry_msgs/Twist twist
 geometry_msgs/Wrench wrench
+
+# Nullspace parameter to be optionally used for secondary control goal.
+# Empty array will be ignored, otherwise array length must match number of degrees-of-freedom.
+# These can be modified at any time, and the controller should do its best to minimize joint-space costs if a nullspace controller is implemented.
+float64[] joint_state_hint