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add addmittance controller state message #56

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add addmittance controller state message #56

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0402a25
Add new state message for Admittance controller
destogl May 6, 2021
be4a4e2
Updated/extended messages for better debugging
destogl May 7, 2021
a43ef71
Rename force->wrench (#1)
AndyZe May 19, 2021
8555691
Add current position in the state message
destogl May 30, 2021
854f48b
Unify field names
destogl Jun 1, 2021
dc9154a
Add calculation values of the admittance rule
destogl Jun 1, 2021
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1 change: 1 addition & 0 deletions control_msgs/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@ find_package(std_msgs REQUIRED)
find_package(trajectory_msgs REQUIRED)

set(msg_files
msg/AdmittanceControllerState.msg
msg/DynamicJointState.msg
msg/GripperCommand.msg
msg/InterfaceValue.msg
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22 changes: 22 additions & 0 deletions control_msgs/msg/AdmittanceControllerState.msg
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@@ -0,0 +1,22 @@
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_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_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

trajectory_msgs/JointTrajectoryPoint admittance_rule_calculated_values # Values calculated by admittance rule (Cartesian space: [x, y, z, rx, ry, rz]) - position = pose_error; effort = measured_wrench

geometry_msgs/PoseStamped current_pose # Current pose from FK
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

string[] joint_names
trajectory_msgs/JointTrajectoryPoint desired_joint_state # result of IK from goal_pose_command
trajectory_msgs/JointTrajectoryPoint actual_joint_state # read from the hardware
trajectory_msgs/JointTrajectoryPoint error_joint_state