add msg for publishing of interface values with name and stamp

StoglRobotics-forks · Dec 21, 2023 · 61fa8a7 · 61fa8a7
1 parent 9cfbaa1
commit 61fa8a7
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diff --git a/control_msgs/CMakeLists.txt b/control_msgs/CMakeLists.txt
@@ -21,6 +21,7 @@ find_package(trajectory_msgs REQUIRED)
 
 set(msg_files
   msg/AdmittanceControllerState.msg
+  msg/DynamicInterfaceValues.msg
   msg/DynamicJointState.msg
   msg/GripperCommand.msg
   msg/InterfaceValue.msg
@@ -35,6 +36,7 @@ set(msg_files
   msg/PidState.msg
   msg/SingleDOFState.msg
   msg/SingleDOFStateStamped.msg
+  msg/SingleInterfaceValue.msg
   msg/SteeringControllerStatus.msg
 )
 

diff --git a/control_msgs/msg/DynamicInterfaceValues.msg b/control_msgs/msg/DynamicInterfaceValues.msg
@@ -0,0 +1,2 @@
+SingleInterfaceValue[] state_interface_values
+SingleInterfaceValue[] command_interface_values
diff --git a/control_msgs/msg/SingleInterfaceValue.msg b/control_msgs/msg/SingleInterfaceValue.msg
@@ -0,0 +1,6 @@
+std_msgs/Header header
+
+# Full qualified interface name e.g. "joint1/position"
+string interface_name
+# Value corresponding to the interface 
+float64 value