Feature/joint wrench msgs #221

my-rice · 2025-06-26T08:21:24Z

This PR introduces joint trajectory messages with task space wrench as described in issue #284. In particular, the following message definitions are added:

JointWrenchTrajectory.msg
JointWrenchTrajectoryPoint.msg

In addition to these messages, the corresponding action definition, FollowJointWrenchTrajectory.action, has also been created.

To avoid repeating code, I reused trajectory_msgs/JointTrajectoryPoint where possible. I am not completely sure if this was the best approach, so I am open to feedback on that.

- [REF] Modified old organization of the message to introduce only two message definitions: JointWrenchTrajectory and JointWrenchTrajectoryPoint - [REF] Adjust CMakeLists.txt to adapt to the new changes

…oryPoint messages

…ontrol

…to feature/joint_wrench_msgs

…intWrenchTrajectory.action

christophfroehlich

Thanks the addition. I have some minor comments

control_msgs/action/FollowJointWrenchTrajectory.action

control_msgs/msg/JointWrenchTrajectoryPoint.msg

Co-authored-by: Christoph Fröhlich <[email protected]>

…sistent formatting. Co-authored-by: Christoph Fröhlich <[email protected]>

…ectory.action

my-rice · 2025-06-26T10:13:40Z

@christophfroehlich I implemented all the requested changes.

christophfroehlich

LGTM

control_msgs/msg/JointWrenchTrajectory.msg

saikishor · 2025-06-27T10:37:34Z

control_msgs/msg/JointWrenchTrajectoryPoint.msg

+string wrench_frame
+geometry_msgs/Wrench wrench


Can we use the WrenchStamped here instead?

Suggested change

string wrench_frame

geometry_msgs/Wrench wrench

geometry_msgs/WrenchStamped wrench

If we use WrenchStamped here instead of Wrench + wrench_frame, the message would end up with two headers, each containing its own timestamp (one inside the JointTrajectoryPoint and another inside the WrenchStamped field). Generally, I’d expect users of this message to assume that the wrench and the JointTrajectoryPoint are synchronized, meaning they share the same timestamp.

I agree with you, but I'm not sure about separating it as a wrench_frame_id. It should belong within the same context in my opinion. I understand your point on using stamped, but I'm not convinced with the current variable naming and usage.

Any other proposals? Or thoughts? @my-rice @christophfroehlich

I understand your point, but would be happy with the current approach as well.

To avoid duplicate header, we could add another layer with a WrenchFramed message?

Yes!
Let's discuss in the PMC Meeting

Ok, I wrote an item in the 'New Business' section of the agenda. Feel free to revise it or move it to a different section.

WrenchFramed

@saikishor as we discussed in yesterday’s PMC meeting, the proposed solution is to introduce the WrenchFramed message. This would allow us to encapsulate both the wrench_frame_id and the wrench itself in a structured layer.
I have two questions about this:

Should I introduce the WrenchFramed message as part of this PR, or submit it in a separate one?

Should WrenchFramed be added to the control_msgs package or another one?

Please add it in the same PR in this repository.

control_msgs/action/FollowJointWrenchTrajectory.action

my-rice · 2025-07-14T09:21:23Z

Hey @saikishor, have you had a chance to review the updates on this PR?

saikishor · 2025-07-14T19:29:19Z

Hey @saikishor, have you had a chance to review the updates on this PR?

Hey @my-rice
I'm extremely sorry, this got out of my inbox last week. Thanks for the ping.

saikishor

I left some comments. Please take a look

my-rice · 2025-07-15T13:11:34Z

I'm extremely sorry, this got out of my inbox last week. Thanks for the ping.

@saikishor No worries at all. Thanks for getting back to me.

I left some comments. Please take a look

I believe I have responded to all of your comments on the PR.

…to feature/joint_wrench_msgs

…to use it

saikishor

Rest looks good to me :)

control_msgs/msg/WrenchFramed.msg

Co-authored-by: Sai Kishor Kothakota <[email protected]>

saikishor

LGTM

my-rice added 7 commits June 19, 2025 18:58

[ADD] Add new message definitions for joint trajectory control

003f9b2

[REF] Change the defintions of Joint Wrench Point messages.

2ddf8a0

- [REF] Modified old organization of the message to introduce only two message definitions: JointWrenchTrajectory and JointWrenchTrajectoryPoint - [REF] Adjust CMakeLists.txt to adapt to the new changes

[DOC] Refine comments in JointWrenchTrajectory and JointWrenchTraject…

d826b89

…oryPoint messages

[ADD] Introduce FollowJointWrenchTrajectory action for joint wrench c…

f1ea3b4

…ontrol

[DOC] Update comments in JointWrenchTrajectoryPoint message for clarity

7b5efc6

Merge branch 'master' of https://github.com/unisa-acg/control_msgs in…

4ecc473

…to feature/joint_wrench_msgs

[FMT] Fix formatting issue by adding a newline at the end of FollowJo…

a365fdf

…intWrenchTrajectory.action

github-actions bot requested review from VX792, bmagyar, fmauch, homalozoa, mcbed, olivier-stasse and saikishor June 26, 2025 08:21

christophfroehlich requested changes Jun 26, 2025

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control_msgs/action/FollowJointWrenchTrajectory.action Show resolved Hide resolved

control_msgs/msg/JointWrenchTrajectoryPoint.msg Outdated Show resolved Hide resolved

my-rice and others added 3 commits June 26, 2025 11:44

[ADD] Add index field in FollowJointWrenchTrajectory.action

8efa4e5

Co-authored-by: Christoph Fröhlich <[email protected]>

[DOC] Update comments in JointWrenchTrajectoryPoint.msg to ensure con…

d41b7b2

…sistent formatting. Co-authored-by: Christoph Fröhlich <[email protected]>

[DOC] Add description for TRAJECTORY_ABORTED in FollowJointWrenchTraj…

d374e54

…ectory.action

christophfroehlich previously approved these changes Jun 27, 2025

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saikishor reviewed Jun 27, 2025

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my-rice added 2 commits July 1, 2025 15:11

Merge branch 'master' into feature/joint_wrench_msgs

c80f747

Merge branch 'master' into feature/joint_wrench_msgs

635fc77

eferre89 mentioned this pull request Jul 2, 2025

Proposal: Modular Reference Handling in ROS 2 Controllers ros-controls/ros2_controllers#1757

Open

christophfroehlich requested a review from saikishor July 2, 2025 15:42

saikishor reviewed Jul 14, 2025

View reviewed changes

Merge branch 'master' of https://github.com/unisa-acg/control_msgs in…

c27a515

…to feature/joint_wrench_msgs

[ADD] Add WrenchFramed message and update JointWrenchTrajectoryPoint …

f23e44f

…to use it

my-rice dismissed christophfroehlich’s stale review via f23e44f July 22, 2025 13:00

christophfroehlich previously approved these changes Jul 22, 2025

View reviewed changes

christophfroehlich requested a review from saikishor July 22, 2025 13:06

saikishor previously approved these changes Jul 22, 2025

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control_msgs/msg/WrenchFramed.msg Outdated Show resolved Hide resolved

my-rice dismissed saikishor’s stale review via 08f0d00 July 22, 2025 13:11

[REF] Update control_msgs/msg/WrenchFramed.msg

08f0d00

Co-authored-by: Sai Kishor Kothakota <[email protected]>

my-rice dismissed christophfroehlich’s stale review via 08f0d00 July 22, 2025 13:11

saikishor approved these changes Jul 22, 2025

View reviewed changes

saikishor requested a review from christophfroehlich July 22, 2025 13:12

christophfroehlich approved these changes Jul 22, 2025

View reviewed changes

christophfroehlich merged commit 8780034 into ros-controls:master Jul 22, 2025
10 checks passed

	string wrench_frame
	geometry_msgs/Wrench wrench
	geometry_msgs/WrenchStamped wrench

Feature/joint wrench msgs #221

Feature/joint wrench msgs #221

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my-rice commented Jul 14, 2025

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