Propose generic messages for commanding and getting states from controllers. (backport #69) #133
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As per request #69 (comment) |
christophfroehlich
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bmagyar
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Jun 6, 2024
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I propose here some new messages for sending commands to controllers.
This work was motivated by the implementation of the PID controller in ros2_controllers repository.
The message
MultiDOFCommandshould replacestd_msgs/MultiArrayFloat64currently used with the controllers.The former is deprecated, and a new message enables to set joint (or in general DOF) names, which makes it more explicit than just a list of values.
Other messages specify a generic status messages, providing flexibility about degrees of freedom.
The PR can also be separated if some messages are not so suitable.
This is an automatic backport of pull request #69 done by [Mergify](https://mergify.com).