Add state message for mechanum controller (backport #79) (#82)

* adding msg file, changes in cmakelists nd package.xml (cherry picked from commit df9cd98) * Apply suggestions from code review Co-authored-by: Dr. Denis <[email protected]> (cherry picked from commit 348a134) * ran pre-commit formatter (cherry picked from commit 74512e4) * Apply suggestions from code review (cherry picked from commit d5a2c0d) --------- Co-authored-by: GiridharBukka <[email protected]> Co-authored-by: Robotgir <[email protected]> Co-authored-by: Dr. Denis <[email protected]> Co-authored-by: Bence Magyar <[email protected]>
ros-controls · Mar 22, 2023 · 5fef88a · 5fef88a
1 parent 4bdca2e
commit 5fef88a
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diff --git a/control_msgs/CMakeLists.txt b/control_msgs/CMakeLists.txt
@@ -29,6 +29,7 @@ set(msg_files
   msg/JointJog.msg
   msg/JointTolerance.msg
   msg/JointTrajectoryControllerState.msg
+  msg/MecanumDriveControllerState.msg
   msg/PidState.msg
 )
 

diff --git a/control_msgs/msg/MecanumDriveControllerState.msg b/control_msgs/msg/MecanumDriveControllerState.msg
@@ -0,0 +1,6 @@
+std_msgs/Header header
+float64 front_left_wheel_velocity
+float64 back_left_wheel_velocity
+float64 back_right_wheel_velocity
+float64 front_right_wheel_velocity
+geometry_msgs/Twist reference_velocity