feat: 添加ACT原子控制消息

2026-08-10 17:54:45 +08:00
parent c62d69e9ab
commit 7b2caf3012
4 changed files with 60 additions and 0 deletions
@@ -0,0 +1,41 @@
+std_msgs/Header header
+uint64 control_seq
+int64 control_monotonic_ns
+int64 feedback_monotonic_ns
+int64 action_monotonic_ns
+
+float32 feedback_age_ms
+float32 qp_duration_ms
+
+float64[7] q_actual
+float64[7] q_qp_raw
+float64[7] q_target
+float64[7] joint_lower_limits
+float64[7] joint_upper_limits
+
+geometry_msgs/Pose tcp_current
+geometry_msgs/Pose tcp_raw_target
+geometry_msgs/Pose tcp_target
+geometry_msgs/Twist tcp_command_velocity
+geometry_msgs/Pose pico_pose
+
+bool pico_grip
+float32 pico_trigger
+bool pico_primary
+bool pico_secondary
+float32[2] pico_axis
+
+bool gripper_target_open
+bool gripper_state_open
+bool gripper_state_known
+bool gripper_command_pending
+bool gripper_command_failed
+
+bool teleop_active
+bool feedback_valid
+bool action_valid
+bool command_sent
+bool qp_attempted
+bool qp_success
+bool target_clamped
+bool control_fault