[ADD] Add WrenchFramed message and update JointWrenchTrajectoryPoint to use it

Author: my-rice

control_msgs/CMakeLists.txt

@@ -37,6 +37,7 @@ set(msg_files
   msg/SteeringControllerStatus.msg
   msg/SteeringControllerCommand.msg
   msg/SpeedScalingFactor.msg
+  msg/WrenchFramed.msg
 )
 
 set(action_files

control_msgs/msg/JointWrenchTrajectoryPoint.msg

@@ -2,6 +2,5 @@
 # Note: The time_from_start field is included in the JointTrajectoryPoint.
 trajectory_msgs/JointTrajectoryPoint point
 
-# The wrench is expressed in this reference frame.
-string wrench_frame
-geometry_msgs/Wrench wrench
+# The task-space wrench to apply at this trajectory point.
+control_msgs/WrenchFramed wrench

control_msgs/msg/WrenchFramed.msg

@@ -0,0 +1,7 @@
+# This message represents a wrench (force and torque) expressed in a specific reference frame.
+
+# The reference frame in which the wrench is expressed.
+string wrench_frame_id
+
+# The wrench applied.
+geometry_msgs/Wrench wrench