From 77ddfc37c65f006f886479f39b6d7e9425dfccf5 Mon Sep 17 00:00:00 2001
From: ipa-fxm <felix.messmer@ipa.fhg.de>
Date: Thu, 25 Sep 2014 14:49:12 +0000
Subject: [PATCH] new message for RobotStateRT data structure
---
ur_msgs/CMakeLists.txt | 1 +
ur_msgs/msg/RobotStateRTMsg.msg | 19 +++++++++++++++++++
2 files changed, 20 insertions(+)
create mode 100644 ur_msgs/msg/RobotStateRTMsg.msg
diff --git a/ur_msgs/CMakeLists.txt b/ur_msgs/CMakeLists.txt
index 1fc2dd9..cd93c37 100644
--- a/ur_msgs/CMakeLists.txt
+++ b/ur_msgs/CMakeLists.txt
@@ -13,6 +13,7 @@ find_package(catkin REQUIRED COMPONENTS message_generation std_msgs)
Analog.msg
Digital.msg
IOStates.msg
+ RobotStateRTMsg.msg
)
## Generate services in the 'srv' folder
diff --git a/ur_msgs/msg/RobotStateRTMsg.msg b/ur_msgs/msg/RobotStateRTMsg.msg
new file mode 100644
index 0000000..cf5f9f6
--- /dev/null
+++ b/ur_msgs/msg/RobotStateRTMsg.msg
@@ -0,0 +1,19 @@
+float64 time
+float64[] q_target
+float64[] qd_target
+float64[] qdd_target
+float64[] i_target
+float64[] m_target
+float64[] q_actual
+float64[] qd_actual
+float64[] i_actual
+float64[] tool_acc_values
+float64[] tcp_force
+float64[] tool_vector
+float64[] tcp_speed
+float64 digital_input_bits
+float64[] motor_temperatures
+float64 controller_timer
+float64 test_value
+float64 robot_mode
+float64[] joint_modes
--
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