ros-controls/ros2_controllers

Create alternative to std_msgs/Float64MultiArray in ForwardCommandController & family

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#157 opened on Mar 16, 2021

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Description

Problem:

std_msgs/Float64MultiArray is deprecated.

# This was originally provided as an example message.
# It is deprecated as of Foxy
# It is recommended to create your own semantically meaningful message.
# However if you would like to continue using this please use the equivalent in example_msgs.

# Please look at the MultiArrayLayout message definition for
# documentation on all multiarrays.

MultiArrayLayout  layout        # specification of data layout
float64[]         data          # array of data

https://github.com/ros2/common_interfaces/blob/foxy/std_msgs/msg/Float64MultiArray.msg

Proposal:

Create (an) alternative in control_msgs. This could be a set of messages with a single joint interface type, one supporting multiples, or one message that has a field for the joint interface type and one that is fully dynamic --- (dynamic joint states??).

Contributor guide

Research direction
Study the current usage of std msgs/Float64MultiArray in ForwardCommandController and related controllers, then design an alternative message or set of messages in control msgs that can represent joint commands semantically. Consider supporting single and multiple joint interfaces, and possibly dynamic joint states. Implement the new message definitions and update the controllers to use them.
Tech stack
cpp
Domain
backend
Issue type
Feature
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
3
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
1-2 days
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Active
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Clear
Prerequisites
C++ROS2
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
40