add joint velocity controller messages (#86)

Author: marioprats

moveit_studio_msgs/moveit_pro_controllers_msgs/CMakeLists.txt

@@ -19,9 +19,11 @@ rosidl_generate_interfaces(
   "action/FollowJointTrajectoryWithAdmittance.action"
   "msg/AdmittanceParameters.msg"
   "msg/CartesianSelectionVector.msg"
+  "msg/JointVelocityControllerState.msg"
   "msg/VelocityForceCommand.msg"
   "msg/VelocityForceControllerState.msg"
   "srv/ConfigureVelocityForceController.srv"
+  "srv/ConfigureJointVelocityController.srv"
   DEPENDENCIES
   action_msgs
   builtin_interfaces

moveit_studio_msgs/moveit_pro_controllers_msgs/msg/JointVelocityControllerState.msg

@@ -0,0 +1,18 @@
+# This message contains information about the internal state of the JointVelocityController.
+
+# Timestamps associated to this state.
+std_msgs/Header header
+
+# Joint names associated to the controller.
+# The order of the names is the same as the order of the joint positions, velocities and accelerations.
+string[] joint_names
+
+# The reference joint-space positions, velocities and accelerations, as computed by the setpoint generator.
+float64[] reference_joint_positions
+float64[] reference_joint_velocities
+float64[] reference_joint_accelerations
+
+# The current joint-space positions, velocities and accelerations, reported by the HW interface, or estimated internally.
+float64[] joint_positions
+float64[] joint_velocities
+float64[] joint_accelerations

moveit_studio_msgs/moveit_pro_controllers_msgs/srv/ConfigureJointVelocityController.srv

@@ -0,0 +1,18 @@
+# Interface for configuring a joint velocity controller.
+# The configuration service will first load the configuration from the parameter server, and then override the fields
+# that are present in this request.
+# An empty request will reset the configuration to the default values (or those present in the parameter server).
+
+# Joint velocity and acceleration limits.
+bool set_joint_velocity_limits
+float64[] joint_velocity_limits
+
+bool set_joint_acceleration_limits
+float64[] joint_acceleration_limits
+
+---
+# True if the configuration was successfully set.
+bool success
+
+# Error message if success is false.
+string error_message