add VFC state message (#62)

moveit_studio_msgs/moveit_pro_controllers_msgs/CMakeLists.txt

@@ -20,6 +20,7 @@ rosidl_generate_interfaces(
   "msg/AdmittanceParameters.msg"
   "msg/CartesianSelectionVector.msg"
   "msg/VelocityForceCommand.msg"
+  "msg/VelocityForceControllerState.msg"
   "srv/ConfigureVelocityForceController.srv"
   DEPENDENCIES
   action_msgs

moveit_studio_msgs/moveit_pro_controllers_msgs/msg/VelocityForceControllerState.msg

@@ -0,0 +1,27 @@
+# This message contains information about the internal state of the VelocityForceController.
+
+# Timestamps associated to this state.
+std_msgs/Header header
+
+# Joint names associated to the controller.
+# The order of the names is the same as the order of the joint positions, velocities and accelerations.
+string[] joint_names
+
+# The reference joint-space positions, velocities and accelerations, as computed by the setpoint generator.
+float64[] reference_joint_positions
+float64[] reference_joint_velocities
+float64[] reference_joint_accelerations
+
+# The current joint-space positions, velocities and accelerations, reported by the HW interface, or estimated internally.
+float64[] joint_positions
+float64[] joint_velocities
+float64[] joint_accelerations
+
+# The reference Cartesian pose, velocity and acceleration, as computed by the setpoint generator.
+geometry_msgs/Pose reference_cartesian_pose
+geometry_msgs/Twist reference_cartesian_velocity
+geometry_msgs/Twist reference_cartesian_acceleration
+
+# The current Cartesian pose and velocity, reported by the HW interface, or estimated internally.
+geometry_msgs/Pose cartesian_pose
+geometry_msgs/Twist cartesian_velocity