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Add speed_scaling_factor msg and field in JointTrajectoryControllerState #143

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merged 2 commits into from
Nov 7, 2024
Merged

Add speed_scaling_factor msg and field in JointTrajectoryControllerState #143

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f4fc440
Add speed_scaling_factor msg and field in JointTrajectoryControllerState
fmauch Jul 3, 2024
7aa84bb
Merge branch 'master' into scaled_jtc
christophfroehlich Nov 7, 2024
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1 change: 1 addition & 0 deletions control_msgs/CMakeLists.txt
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Expand Up @@ -37,6 +37,7 @@ set(msg_files
msg/SingleDOFState.msg
msg/SingleDOFStateStamped.msg
msg/SteeringControllerStatus.msg
msg/SpeedScalingFactor.msg
)

set(action_files
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2 changes: 2 additions & 0 deletions control_msgs/msg/JointTrajectoryControllerState.msg
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Expand Up @@ -22,3 +22,5 @@ trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_feedback
trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_error
# Current output of the controller.
trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_output
# The speed scaling factor the trajectory is currently being executed with
float64 speed_scaling_factor
5 changes: 5 additions & 0 deletions control_msgs/msg/SpeedScalingFactor.msg
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@@ -0,0 +1,5 @@
# This message contains a scaling factor to scale trajectory execution. A factor of 1.0 means
# execution at normal speed, a factor of 0.0 means a full pause.
# Negative values are not allowed (Which should be checked by any instance consuming this message).

float64 factor
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