Merge branch 'master' of https://github.com/unisa-acg/control_msgs into feature/joint_wrench_msgs

Author: my-rice

README.md

@@ -19,7 +19,6 @@ If you are new to the project, please read the [contributing guide](https://cont
 | Kilted     | [master](https://github.com/ros-controls/control_msgs/tree/master) | see above <br> [![build.ros2.org](https://build.ros2.org/buildStatus/icon?job=Kdev__control_msgs__ubuntu_noble_amd64&subject=build.ros2.org)](https://build.ros2.org/job/Kdev__control_msgs__ubuntu_noble_amd64/) |  [![Package Build](https://build.ros2.org/buildStatus/icon?job=Kbin_uN64__control_msgs__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Kbin_uN64__control_msgs__ubuntu_noble_amd64__binary/) |
 | Jazzy     | [jazzy](https://github.com/ros-controls/control_msgs/tree/jazzy) | [![Jazzy Binary Build](https://github.com/ros-controls/control_msgs/actions/workflows/jazzy-build.yml/badge.svg?branch=jazzy)](https://github.com/ros-controls/control_msgs/actions/workflows/jazzy-build.yml) <br> [![build.ros2.org](https://build.ros2.org/buildStatus/icon?job=Jdev__control_msgs__ubuntu_noble_amd64&subject=build.ros2.org)](https://build.ros2.org/job/Jdev__control_msgs__ubuntu_noble_amd64/) | [![Package Build](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__control_msgs__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__control_msgs__ubuntu_noble_amd64__binary/) |
 | Humble      | [humble](https://github.com/ros-controls/control_msgs/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/control_msgs/actions/workflows/humble-build.yml/badge.svg)](https://github.com/ros-controls/control_msgs/actions/workflows/humble-build.yml) <br> [![build.ros2.org](https://build.ros2.org/buildStatus/icon?job=Hdev__control_msgs__ubuntu_jammy_amd64&subject=build.ros2.org)](https://build.ros2.org/job/Hdev__control_msgs__ubuntu_jammy_amd64/) | [![Package Build](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__control_msgs__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__control_msgs__ubuntu_jammy_amd64__binary/) |
-| Noetic       | [kinetic-devel](https://github.com/ros-controls/control_msgs/tree/kinetic-devel) | [Build status](https://travis-ci.org/ros-controls/control_msgs) |  n/a |
 
 ## Acknowledgements
 

control_msgs/CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog for package control_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+6.4.0 (2025-07-19)
+------------------
+* Add messages for motion primitives (`#228 <https://github.com/ros-controls/control_msgs/issues/228>`_)
+* Add message to control a robot via linear velocity and steering position (`#217 <https://github.com/ros-controls/control_msgs/issues/217>`_)
+* Contributors: Felix Exner, wittenator
+
 6.3.0 (2025-06-11)
 ------------------
 * Add indices to FollowJointTrajectory to store trajectory index being executed (`#67 <https://github.com/ros-controls/control_msgs/issues/67>`_)

control_msgs/CMakeLists.txt

@@ -26,6 +26,9 @@ set(msg_files
   msg/JointWrenchTrajectory.msg
   msg/JointWrenchTrajectoryPoint.msg
   msg/MecanumDriveControllerState.msg
+  msg/MotionArgument.msg
+  msg/MotionPrimitive.msg
+  msg/MotionPrimitiveSequence.msg
   msg/MultiDOFCommand.msg
   msg/MultiDOFStateStamped.msg
   msg/PidState.msg
@@ -37,11 +40,12 @@ set(msg_files
 )
 
 set(action_files
-  action/ParallelGripperCommand.action
+  action/ExecuteMotionPrimitiveSequence.action
   action/FollowJointTrajectory.action
   action/GripperCommand.action
   action/JointTrajectory.action
   action/FollowJointWrenchTrajectory.action
+  action/ParallelGripperCommand.action
   action/PointHead.action
   action/SingleJointPosition.action
 )

control_msgs/action/ExecuteMotionPrimitiveSequence.action

@@ -0,0 +1,13 @@
+# A list of MotionPrimitive messages that are executed in sequence. They don't have to be of the
+# same type, as long as the robot supports executing them one after another.
+MotionPrimitiveSequence trajectory
+---
+int32 SUCCESSFUL = 0
+int32 INVALID_GOAL = -1
+int32 OLD_HEADER_TIMESTAMP = -3
+
+int32 error_code
+string error_string
+---
+# Index of the currently executed motion primitive in the sequence.
+uint8 current_primitive_index

control_msgs/msg/MotionArgument.msg

@@ -0,0 +1,4 @@
+# Key Value pair to be used in MotionPrimitive messages
+
+string name
+float64 value

control_msgs/msg/MotionPrimitive.msg

@@ -0,0 +1,23 @@
+int8 UNKNOWN=-1
+int8 LINEAR_JOINT=0 # Often referred as PTP
+int8 LINEAR_CARTESIAN=50 # Often referred as LIN
+int8 CIRCULAR_CARTESIAN=51 # Often referred as CIRC
+# potentially more, such as spline motion
+
+int8 type -1 # one of the above
+
+float64 blend_radius
+
+# MotionArguments are meant to be used as vendor-specific or use-case-specific arguments to
+# MotionPrimitive messages. This is to avoid bloating the MotionPrimitive message with all possible
+# uses cases but rather add specific data using as a list of key-value pairs, which is what this
+# message represents.
+MotionArgument[] additional_arguments # (max) velocity, (max) acceleration, efficiency
+
+# Targets should be either specified through joint configurations or Cartesian poses.
+# Depending on the motion type and implementation, there might be multiple poses allowed.
+# For example, circular motions are often specified as via and target
+# Usually one of these is empty, in some edge cases even both can be empty, when all input is given
+# in the more flexible MotionArgument[] field.
+geometry_msgs/PoseStamped[] poses
+float64[] joint_positions

control_msgs/msg/MotionPrimitiveSequence.msg

@@ -0,0 +1 @@
+MotionPrimitive[] motions

control_msgs/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>control_msgs</name>
-  <version>6.3.0</version>
+  <version>6.4.0</version>
   <description>
     control_msgs contains base messages and actions useful for
     controlling robots. It provides representations for controller