Publish Payload mass, cog and inertial matrix

[zkeyg]

Feature summary

Short introduction to the feature and why it should be implemented
Would like to get real time state of the robot payload mass, cog and inertia matrix so that i can better control the robot.
Also for the set payload service from the Hardware Interface is it possible to include the inertia matrix?

Followed by a longer description

Related issues

Links to related issues internal or external to this repo

Tasks

To complete this issue involves

• Implement the feature
• Make documentation
• Make Unit test
• Make example
• Test on real hardware

[urfeex]

Regarding publishing: We currently have #1707 in progress with which you can publish any data being available in the RTDE protocol.

Regarding the service: That is a very valid feature request. As a first step, it would have to be added to the ScriptCommandInterface in the client library basically supporting set_target_payload. Then, the following would have to be updated:

• Add the inertia (and transition time) parameters to the service
• Add inertia and transition time fields to the ros2_control xacro
• Expose the fields in the hardware interface
• Update the payload handling in the hardware interface
• Update the controller here and here

[zkeyg]

Thank you @urfeex These steps look very feasible and well-rounded. Appreciate the support!