From e59e43e28e14e70b2e9a028f696bfb0e5dbf3c7f Mon Sep 17 00:00:00 2001
From: ipa-fxm <felix.messmer@ipa.fhg.de>
Date: Fri, 10 Oct 2014 07:09:11 +0000
Subject: [PATCH] add documentation and link to message definition

---
 ur_msgs/msg/MasterboardDataMsg.msg | 11 +++++++++++
 ur_msgs/msg/RobotStateRTMsg.msg    |  8 ++++++++
 2 files changed, 19 insertions(+)

diff --git a/ur_msgs/msg/MasterboardDataMsg.msg b/ur_msgs/msg/MasterboardDataMsg.msg
index 629535b..8ccdd62 100644
--- a/ur_msgs/msg/MasterboardDataMsg.msg
+++ b/ur_msgs/msg/MasterboardDataMsg.msg
@@ -1,3 +1,14 @@
+# This data structure contains the MasterboardData structure
+# used by the Universal Robots controller
+#
+# MasterboardData is part of the data structure being send on the 
+# secondary client communications interface
+# 
+# This data structure is send at 10 Hz on TCP port 30002
+# 
+# Dokumentation can be found on the Universal Robots Support Wiki
+# (http://wiki03.lynero.net/Technical/DataStreamFromURController?rev=8)
+
 int16 digital_input_bits
 int16 digital_output_bits
 int8 analog_input_range0
diff --git a/ur_msgs/msg/RobotStateRTMsg.msg b/ur_msgs/msg/RobotStateRTMsg.msg
index cf5f9f6..2741463 100644
--- a/ur_msgs/msg/RobotStateRTMsg.msg
+++ b/ur_msgs/msg/RobotStateRTMsg.msg
@@ -1,3 +1,11 @@
+# Data structure for the realtime communications interface (aka Matlab interface)
+# used by the Universal Robots controller
+# 
+# This data structure is send at 125 Hz on TCP port 30003
+# 
+# Dokumentation can be found on the Universal Robots Support Wiki
+# (http://wiki03.lynero.net/Technical/RealTimeClientInterface?rev=9)
+
 float64 time
 float64[] q_target
 float64[] qd_target
-- 
GitLab