Add JointTrajectory message #106
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Signed-off-by: Andrej Orsula <orsula.andrej@gmail.com>
This was referenced Dec 4, 2020
chapulina
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Signed-off-by: Andrej Orsula <orsula.andrej@gmail.com>
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Signed-off-by: Andrej Orsula <orsula.andrej@gmail.com>
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This PR adds
ignition.msgs.JointTrajectory, which is currently utilised byJointTrajectoryController(PR - gazebosim/gz-sim#473). It provides time-parameterised control signal for each actuated single-axis joint in form of position, velocity, acceleration and effort.This message is analogous to
trajectory_msgs/msg/JointTrajectory. I opened gazebosim/ros_gz#121, which allows conversion of this message type between ROS 2 and Ignition Transport.Note: There might not be an immediate benefit of including acceleration field, but it is added to keep consistency with the ROS msg.