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Rename force->wrench #1

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Merged
merged 1 commit into from
May 19, 2021
Merged

Rename force->wrench #1

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12 changes: 6 additions & 6 deletions control_msgs/msg/AdmittanceControllerState.msg
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Original file line number Diff line number Diff line change
@@ -1,14 +1,14 @@
geometry_msgs/WrenchStamped input_force_command #commanded input force for the controller
geometry_msgs/WrenchStamped input_wrench_command #commanded input wrench for the controller
geometry_msgs/PoseStamped input_pose_command #commanded input pose for the controller
trajectory_msgs/JointTrajectory input_joint_command # commanded input JointTrajectory (used only first point)

geometry_msgs/WrenchStamped input_force_control_frame # input force transformed into control frame
geometry_msgs/WrenchStamped input_wrench_control_frame # input wrench transformed into control frame
geometry_msgs/PoseStamped input_pose_control_frame # input pose transformed into control frame

geometry_msgs/WrenchStamped measured_force # measured force from the sensor (sensor frame)
geometry_msgs/WrenchStamped measured_force_filtered # measured force after low-pass and gravity compensation filters in sensor frame
geometry_msgs/WrenchStamped measured_force_control_frame # transformed measured force to control frame
geometry_msgs/WrenchStamped measured_force_endeffector_frame # measured force transformed to endeffector
geometry_msgs/WrenchStamped measured_wrench # measured wrench from the sensor (sensor frame)
geometry_msgs/WrenchStamped measured_wrench_filtered # measured wrench after low-pass and gravity compensation filters in sensor frame
geometry_msgs/WrenchStamped measured_wrench_control_frame # transformed measured wrench to control frame
geometry_msgs/WrenchStamped measured_wrench_endeffector_frame # measured wrench transformed to endeffector

geometry_msgs/PoseStamped desired_pose # goal pose to send to the robot
geometry_msgs/TransformStamped relative_desired_pose # relative pose from the actual pose as result of the admittance rule
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