rename ForceTorqueThresholds message to CollisionThresholds

Maverobot · Sep 10, 2021 · 557469e · 557469e
1 parent 38832ad
commit 557469e
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Showing 10 changed files with 16 additions and 16 deletions.
diff --git a/franka_msgs/CMakeLists.txt b/franka_msgs/CMakeLists.txt
@@ -11,16 +11,16 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "action/Homing.action"
   "action/Move.action"
   "action/Stop.action"
+  "msg/CollisionThresholds.msg"
   "msg/Errors.msg"
-  "msg/ForceTorqueThresholds.msg"
   "msg/FrankaState.msg"
   "msg/GraspEpsilon.msg"
   "srv/SetCartesianImpedance.srv"
   "srv/SetCollisionBehavior.srv"
   "srv/SetJointImpedance.srv"
+  "srv/SetLoad.srv"
   "srv/SetSimpleCollisionBehavior.srv"
   "srv/SetTransform.srv"
-  "srv/SetLoad.srv"
   DEPENDENCIES std_msgs geometry_msgs builtin_interfaces
 )
 

diff --git a/franka_msgs/msg/CollisionThresholds.msg b/franka_msgs/msg/CollisionThresholds.msg
@@ -0,0 +1,4 @@
+float64[7] contact_torques # Contact torque thresholds for each joint in Nm
+float64[7] collision_torques # Collision torque thresholds for each joint in Nm
+geometry_msgs/Wrench contact_wrench # Contact force thresholds for (x,y,z,R,P,Y)
+geometry_msgs/Wrench collision_wrench # Collision force thresholds for (x,y,z,R,P,Y)
diff --git a/franka_msgs/msg/Errors.msg b/franka_msgs/msg/Errors.msg
@@ -33,4 +33,4 @@ bool communication_constraints_violation
 bool power_limit_violation
 bool joint_p2p_insufficient_torque_for_planning
 bool tau_j_range_violation
-bool instability_detected
+bool instability_detected
diff --git a/franka_msgs/msg/ForceTorqueThresholds.msg b/franka_msgs/msg/ForceTorqueThresholds.msg
diff --git a/franka_msgs/srv/SetCartesianImpedance.srv b/franka_msgs/srv/SetCartesianImpedance.srv
@@ -2,4 +2,4 @@ geometry_msgs/Vector3 translational_stiffness # (x,y,z) in N/m
 geometry_msgs/Vector3 rotational_stiffness # (R,P,Y) in Nm/rad
 ---
 bool success
-string error
+string error
diff --git a/franka_msgs/srv/SetCollisionBehavior.srv b/franka_msgs/srv/SetCollisionBehavior.srv
@@ -1,5 +1,5 @@
-ForceTorqueThresholds nominal_thresholds # Thresholds during constant velocity movement phases
-ForceTorqueThresholds acceleration_thresholds # Thresholds during acceleration/deceleration
+ContactThresholds nominal_thresholds # Thresholds during constant velocity movement phases
+ContactThresholds acceleration_thresholds # Thresholds during acceleration/deceleration
 ---
 bool success
-string error
+string error
diff --git a/franka_msgs/srv/SetJointImpedance.srv b/franka_msgs/srv/SetJointImpedance.srv
@@ -1,4 +1,4 @@
 float64[7] joint_stiffness  # in [Nm/rad, Nm/rad, Nm/rad, Nm/rad, Nm/rad, Nm/rad, Nm/rad]
 ---
 bool success
-string error
+string error
diff --git a/franka_msgs/srv/SetLoad.srv b/franka_msgs/srv/SetLoad.srv
@@ -1,4 +1,4 @@
 geometry_msgs/InertiaStamped load_inertia # Dynamic parameters of the payload
 ---
 bool success
-string error
+string error
diff --git a/franka_msgs/srv/SetSimpleCollisionBehavior.srv b/franka_msgs/srv/SetSimpleCollisionBehavior.srv
@@ -1,4 +1,4 @@
-ForceTorqueThresholds thresholds # Common torque and force boundaries for acceleration/deceleration and constant velocity movement phases
+ContactThresholds thresholds # Common torque and force boundaries for acceleration/deceleration and constant velocity movement phases
 ---
 bool success
-string error
+string error
diff --git a/franka_msgs/srv/SetTransform.srv b/franka_msgs/srv/SetTransform.srv
@@ -1,4 +1,4 @@
 geometry_msgs/TransformStamped transform
 ---
 bool success
-string error
+string error