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Added SetForceMode srv #20

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Added SetForceMode srv #20

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92a38d1
Added SetForceMode srv
urmarp Jan 9, 2023
b98a711
Changed msg types to be more representative
urmarp Jan 30, 2023
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1 change: 1 addition & 0 deletions CMakeLists.txt
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Expand Up @@ -25,6 +25,7 @@ add_service_files(
SetPayload.srv
SetSpeedSliderFraction.srv
SetIO.srv
SetForceMode.srv
)


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21 changes: 21 additions & 0 deletions srv/SetForceMode.srv
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@@ -0,0 +1,21 @@
# A 6d pose vector that defines the force frame relative to the base frame
geometry_msgs/PoseStamped task_frame
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I'm not sure whether this makes sense. From what I understand, the target wrench is given in the task_frame, right? So, when using a WrenchStamped for the target wrench, the pose would be given through the frame_id.


# A 6d vector of 0s and 1s. 1 means that the robot will be compliant in the corresponding axis of the task frame
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This is not a 6d vector anymore, a final docstring can be done once we figured out the task frame above.

bool selection_vector_x
bool selection_vector_y
bool selection_vector_z
bool selection_vector_rx
bool selection_vector_ry
bool selection_vector_rz
Comment on lines +5 to +10
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I'm not sure whether "selection_vector" is the best naming. Maybe something like "compliance_x" would be more suitable?


# A 6d vector. The forces/torques the robot will apply to its environment
geometry_msgs/WrenchStamped wrench

# An integer [1;3] specifying how the robot interprets the force frame
uint8 type
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The types should probably be explained / use constants.


# 6d vector. For compliant axes, these values are the maximum allowed tcp speed along/about the axis. For non-compliant axes, these values are the maximum allowed deviation along/about an axis between the actual tcp position and the one set by the program
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Suggested change
# 6d vector. For compliant axes, these values are the maximum allowed tcp speed along/about the axis. For non-compliant axes, these values are the maximum allowed deviation along/about an axis between the actual tcp position and the one set by the program
# For compliant axes, these values are the maximum allowed tcp speed along/about the axis. For non-compliant axes, these values are the maximum allowed deviation along/about an axis between the actual tcp position and the one set by the program.

geometry_msgs/TwistStamped limits
---
bool success