From 61fa8a7a42f48e7c69d020214ac2b007604ba0b5 Mon Sep 17 00:00:00 2001
From: Manuel M <mamueluth@gmail.com>
Date: Thu, 21 Dec 2023 15:37:33 +0100
Subject: [PATCH] add msg for publishing of interface values with name and
 stamp

---
 control_msgs/CMakeLists.txt                 | 2 ++
 control_msgs/msg/DynamicInterfaceValues.msg | 2 ++
 control_msgs/msg/SingleInterfaceValue.msg   | 6 ++++++
 3 files changed, 10 insertions(+)
 create mode 100644 control_msgs/msg/DynamicInterfaceValues.msg
 create mode 100644 control_msgs/msg/SingleInterfaceValue.msg

diff --git a/control_msgs/CMakeLists.txt b/control_msgs/CMakeLists.txt
index fa2ed67..03caee9 100644
--- 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
new file mode 100644
index 0000000..d517eeb
--- /dev/null
+++ 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
new file mode 100644
index 0000000..897d9d1
--- /dev/null
+++ 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