It has been bugging me for a while that I can’t seem to find something like sensor_msgs/msg/JointState.msg, but for commanding positions for multiple joints to move immediately.
ros-control seems to be looking for a replacement for their msg type used for their
ForwardCommandController, due to
Float64MultiArray being deprecated as of Foxy, and a semantically meaningful message type is recommended.
Perhaps, we could have a new msg type
string names float64 positions float64 velocities float64 accelerations float64 effort
Or, a msg type like
uint8 TYPE_POSITION=0 uint8 TYPE_VELOCITY=1 uint8 TYPE_ACCELERATION=2 uint8 TYPE_EFFORT=3 uint8 type string names float64 values
Otherwise, we could have four separate msgs for each type of actuator,
It would be nice to add this to
common_interfaces. What do we think?