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Propose generic messages for commanding and getting states from controllers. #69

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merged 10 commits into from Mar 31, 2023
Merged

Propose generic messages for commanding and getting states from controllers. #69

merged 10 commits into from Mar 31, 2023

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destogl
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@destogl destogl commented Sep 15, 2022 •
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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 MultiDOFCommand should replace std_msgs/MultiArrayFloat64 currently 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.

@destogl destogl self-assigned this Sep 15, 2022
@destogl destogl mentioned this pull request Sep 15, 2022
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@destogl destogl force-pushed the add-generic-msgs-for-controller-references branch from bc6b2d6 to 12ad240 Compare November 30, 2022 12:18
@destogl destogl changed the base branch from galactic-devel to master November 30, 2022 21:13
AndyZe
AndyZe reviewed Dec 1, 2022
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@bmagyar bmagyar changed the title Propose generic messages for commadning and getting states from controllers. Propose generic messages for commanding and getting states from controllers. Mar 29, 2023
@bmagyar bmagyar merged commit d24165f into master Mar 31, 2023
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@evan-palmer
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(I apologize in advance if this is the wrong place for this). Would it be possible to backport these messages to the humble branch?

@christophfroehlich christophfroehlich deleted the add-generic-msgs-for-controller-references branch April 24, 2024 09:03
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I don't see any problems in backporting them.

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@Mergifyio backport humble

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mergify bot commented Apr 24, 2024 •
edited

backport humble

✅ Backports have been created

mergify bot pushed a commit that referenced this pull request Apr 24, 2024
@destogl @mergify
Add generic messages for commanding and getting states from controlle…
6c9a028 
…rs. (#69)

(cherry picked from commit d24165f)

# Conflicts:
#	control_msgs/CHANGELOG.rst
@mergify mergify bot mentioned this pull request Apr 24, 2024
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@AndyZe AndyZe AndyZe left review comments

@christophfroehlich christophfroehlich christophfroehlich approved these changes

@bmagyar bmagyar bmagyar approved these changes

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@destogl @evan-palmer @christophfroehlich @bmagyar @AndyZe