From b41be276af04a6f47a15e32b764fc839c494051f Mon Sep 17 00:00:00 2001 From: wittenator <9154515+wittenator@users.noreply.github.com> Date: Wed, 11 Jun 2025 20:24:14 +0000 Subject: [PATCH 1/3] Add drive&steering command for controllers --- control_msgs/CMakeLists.txt | 1 + control_msgs/msg/SteeringControllerCommand.msg | 3 +++ 2 files changed, 4 insertions(+) create mode 100644 control_msgs/msg/SteeringControllerCommand.msg diff --git a/control_msgs/CMakeLists.txt b/control_msgs/CMakeLists.txt index 98627dc..6207cc0 100644 --- a/control_msgs/CMakeLists.txt +++ b/control_msgs/CMakeLists.txt @@ -30,6 +30,7 @@ set(msg_files msg/SingleDOFState.msg msg/SingleDOFStateStamped.msg msg/SteeringControllerStatus.msg + msg/SteeringControllerCommand.msg msg/SpeedScalingFactor.msg ) diff --git a/control_msgs/msg/SteeringControllerCommand.msg b/control_msgs/msg/SteeringControllerCommand.msg new file mode 100644 index 0000000..5021319 --- /dev/null +++ b/control_msgs/msg/SteeringControllerCommand.msg @@ -0,0 +1,3 @@ +std_msgs/Header header +float64 steering_angle # desired positions of the steering joints +float64 linear_velocity # desired linear velocity of the robot From 21f23fd5b3b38be182e2237f0c2fc7272855df60 Mon Sep 17 00:00:00 2001 From: wittenator <9154515+wittenator@users.noreply.github.com> Date: Wed, 11 Jun 2025 20:27:39 +0000 Subject: [PATCH 2/3] Precommit modifications included --- control_msgs/msg/SteeringControllerCommand.msg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/control_msgs/msg/SteeringControllerCommand.msg b/control_msgs/msg/SteeringControllerCommand.msg index 5021319..393bca1 100644 --- a/control_msgs/msg/SteeringControllerCommand.msg +++ b/control_msgs/msg/SteeringControllerCommand.msg @@ -1,3 +1,3 @@ std_msgs/Header header float64 steering_angle # desired positions of the steering joints -float64 linear_velocity # desired linear velocity of the robot +float64 linear_velocity # desired linear velocity of the robot From 23b910b923e52616035da16ae689ee3a78239905 Mon Sep 17 00:00:00 2001 From: wittenator <9154515+wittenator@users.noreply.github.com> Date: Wed, 11 Jun 2025 23:30:32 +0200 Subject: [PATCH 3/3] Update control_msgs/msg/SteeringControllerCommand.msg MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Christoph Fröhlich --- control_msgs/msg/SteeringControllerCommand.msg | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/control_msgs/msg/SteeringControllerCommand.msg b/control_msgs/msg/SteeringControllerCommand.msg index 393bca1..6cff974 100644 --- a/control_msgs/msg/SteeringControllerCommand.msg +++ b/control_msgs/msg/SteeringControllerCommand.msg @@ -1,3 +1,3 @@ std_msgs/Header header -float64 steering_angle # desired positions of the steering joints -float64 linear_velocity # desired linear velocity of the robot +float64 steering_angle # in rad +float64 linear_velocity # in m/s