msg&srv file update / read_data_rt client to torque_rt_stream publish…

…er node created

dsr_msgs2/msg/AlterMotionStream.msg

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+#____________________________________________________________________________________________
+# alter_motion  
+# 
+#____________________________________________________________________________________________
+
+float64[6] pos               # position  

dsr_msgs2/msg/RobotStateRt.msg

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+# timestamp at the data of data acquisition
+float64                      time_stamp
+# actual joint position from incremental encoder at motor side(used for control) [deg]
+float64[6]                   actual_joint_position
+# actual joint position from absolute encoder at link side (used for exact link position) [deg]
+float64[6]                   actual_joint_position_abs
+# actual joint velocity from incremental encoder at motor side [deg/s]
+float64[6]                   actual_joint_velocity
+# actual joint velocity from absolute encoder at link side [deg/s]
+float64[6]                   actual_joint_velocity_abs
+# actual robot tcp position w.r.t. base coordinates: (x, y, z, a, b, c), where (a, b, c) follows Euler ZYZ notation [mm, deg]
+float64[6]                   actual_tcp_position
+# actual robot tcp velocity w.r.t. base coordinates [mm, deg/s]
+float64[6]                   actual_tcp_velocity
+# actual robot flange position w.r.t. base coordinates: (x, y, z, a, b, c), where (a, b, c) follows Euler ZYZ notation [mm, deg]
+float64[6]                   actual_flange_position
+# robot flange velocity w.r.t. base coordinates [mm, deg/s]
+float64[6]                   actual_flange_velocity
+# actual motor torque applying gear ratio = gear_ratio * current2torque_constant * motor current [Nm]
+float64[6]                   actual_motor_torque
+# estimated joint torque by robot controller [Nm]
+float64[6]                   actual_joint_torque
+# calibrated joint torque sensor data [Nm]
+float64[6]                   raw_joint_torque
+# calibrated force torque sensor data w.r.t. flange coordinates [N, Nm]
+float64[6]                   raw_force_torque
+# estimated external joint torque [Nm]
+float64[6]                   external_joint_torque
+# estimated tcp force w.r.t. base coordinates [N, Nm] 
+float64[6]                   external_tcp_force
+# target joint position [deg]
+float64[6]                   target_joint_position
+# target joint velocity [deg/s]
+float64[6]                   target_joint_velocity
+# target joint acceleration [deg/s^2] 
+float64[6]                   target_joint_acceleration
+# target motor torque [Nm] 
+float64[6]                   target_motor_torque
+# target tcp position w.r.t. base coordinates: (x, y, z, a, b, c), where (a, b, c) follows Euler ZYZ notation [mm, deg] 
+float64[6]                   target_tcp_position
+# target tcp velocity w.r.t. base coordinates [mm, deg/s]
+float64[6]                   target_tcp_velocity
+# jacobian matrix=J(q) w.r.t. base coordinates
+std_msgs/Float64MultiArray[] jacobian_matrix
+# gravity torque=g(q) [Nm]
+float64[6]                   gravity_torque
+# coriolis matrix=C(q,q_dot)  [6][6]
+std_msgs/Float64MultiArray[] coriolis_matrix
+# mass matrix=M(q) [6][6]
+std_msgs/Float64MultiArray[] mass_matrix
+# robot configuration 
+uint16                       solution_space
+# minimum singular value 
+float64                      singularity
+# current operation speed rate(1~100 %) 
+float64                      operation_speed_rate
+# joint temperature(celsius) 
+float64[6]                   joint_temperature
+# controller digital input(16 channel) 
+uint16                       controller_digital_input
+# controller digital output(16 channel) 
+uint16                       controller_digital_output
+# controller analog input type(2 channel) 
+uint8[2]                      controller_analog_input_type
+# controller analog input(2 channel) 
+float64[2]                   controller_analog_input
+# controller analog output type(2 channel) 
+uint8[2]                     controller_analog_output_type
+# controller analog output(2 channel) 
+float64[2]                   controller_analog_output
+# flange digital input(A-Series: 2 channel, M/H-Series: 6 channel) 
+uint8                        flange_digital_input
+# flange digital output(A-Series: 2 channel, M/H-Series: 6 channel) 
+uint8                        flange_digital_output
+# flange analog input(A-Series: 2 channel, M/H-Series: 4 channel) 
+float64[4]                   flange_analog_input
+# strobe count(increased by 1 when detecting setting edge) 
+uint8[2]                     external_encoder_strobe_count
+# external encoder count 
+uint16[2]                    external_encoder_count
+# final goal joint position (reserved) 
+float64[6]                   goal_joint_position
+# final goal tcp position (reserved) 
+float64[6]                   goal_tcp_position
+# ROBOT_MODE_MANUAL(0), ROBOT_MODE_AUTONOMOUS(1), ROBOT_MODE_MEASURE(2) 
+uint8                        robot_mode
+# STATE_INITIALIZING(0), STATE_STANDBY(1), STATE_MOVING(2), STATE_SAFE_OFF(3), STATE_TEACHING(4), STATE_SAFE_STOP(5), STATE_EMERGENCY_STOP, STATE_HOMMING, STATE_RECOVERY, STATE_SAFE_STOP2, STATE_SAFE_OFF2, 
+uint8                        robot_state
+# position control mode, torque mode 
+uint16                       control_mode
+# Reserved 
+uint8[256]                   reserved

dsr_msgs2/msg/ServojRtStream.msg

@@ -0,0 +1,9 @@
+#____________________________________________________________________________________________
+# servoj_rt
+# 
+#____________________________________________________________________________________________
+
+float64[6] pos               # position  
+float64[6] vel               # velocity
+float64[6] acc               # acceleration
+float64    time              # time

dsr_msgs2/msg/ServojStream.msg

@@ -0,0 +1,9 @@
+#____________________________________________________________________________________________
+# servoj
+# 
+#____________________________________________________________________________________________
+
+float64[6] pos               # position  
+float64[6] vel               # velocity
+float64[6] acc               # acceleration
+float64    time              # time

dsr_msgs2/msg/ServolRtStream.msg

@@ -0,0 +1,9 @@
+#____________________________________________________________________________________________
+# servol_rt
+# 
+#____________________________________________________________________________________________
+
+float64[6] pos               # position  
+float64[6] vel               # velocity
+float64[6] acc               # acceleration
+float64    time              # time

dsr_msgs2/msg/ServolStream.msg

@@ -0,0 +1,9 @@
+#____________________________________________________________________________________________
+# servol
+# 
+#____________________________________________________________________________________________
+
+float64[6] pos               # position  
+float64[2] vel               # velocity
+float64[2] acc               # acceleration
+float64    time              # time

dsr_msgs2/msg/SpeedjRtStream.msg

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+#____________________________________________________________________________________________
+# speedj_rt
+# 
+#____________________________________________________________________________________________
+
+float64[6] vel               # velocity
+float64[6] acc               # acceleration
+float64    time              # time

dsr_msgs2/msg/SpeedjStream.msg

@@ -0,0 +1,8 @@
+#____________________________________________________________________________________________
+# speedj
+# 
+#____________________________________________________________________________________________
+
+float64[6] vel               # velocity
+float64[6] acc               # acceleration
+float64    time              # time

dsr_msgs2/msg/SpeedlRtStream.msg

@@ -0,0 +1,8 @@
+#____________________________________________________________________________________________
+# speedl_rt
+# 
+#____________________________________________________________________________________________
+
+float64[6] vel               # velocity
+float64[6] acc               # acceleration
+float64    time              # time

dsr_msgs2/msg/SpeedlStream.msg

@@ -0,0 +1,8 @@
+#____________________________________________________________________________________________
+# speedl
+# 
+#____________________________________________________________________________________________
+
+float64[6] vel               # velocity
+float64[2] acc               # acceleration
+float64    time              # time

dsr_msgs2/msg/TorqueRtStream.msg

@@ -0,0 +1,7 @@
+#____________________________________________________________________________________________
+# torque_rt
+# 
+#____________________________________________________________________________________________
+
+float64[6] tor               # motor torque
+float64    time              # time

dsr_msgs2/srv/realtime/ConnectRtControl.srv

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+#____________________________________________________________________________________________
+# connect_rt_control
+#____________________________________________________________________________________________
+
+string     ip_address
+uint32     port
+---
+bool       success

dsr_msgs2/srv/realtime/DisconnectRtControl.srv

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+#____________________________________________________________________________________________
+# disconnect_rt_control
+#____________________________________________________________________________________________
+---
+bool       success

dsr_msgs2/srv/realtime/GetRtControlInputDataList.srv

@@ -0,0 +1,7 @@
+#____________________________________________________________________________________________
+# get_rt_control_input_data_list
+#____________________________________________________________________________________________
+string     version
+---
+bool       success
+string     data

dsr_msgs2/srv/realtime/GetRtControlInputVersionList.srv

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+#____________________________________________________________________________________________
+# get_rt_control_input_version_list
+#____________________________________________________________________________________________
+
+---
+bool       success
+string     version

dsr_msgs2/srv/realtime/GetRtControlOutputDataList.srv

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+#____________________________________________________________________________________________
+# get_rt_control_output_data_list
+#____________________________________________________________________________________________
+
+string     version
+---
+bool       success
+string     data

dsr_msgs2/srv/realtime/GetRtControlOutputVersionList.srv

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+#____________________________________________________________________________________________
+# get_rt_control_output_version_list
+#____________________________________________________________________________________________
+
+---
+bool       success
+string     version

dsr_msgs2/srv/realtime/ReadDataRt.srv

@@ -0,0 +1,6 @@
+#____________________________________________________________________________________________
+# read_data_rt
+#____________________________________________________________________________________________
+
+---
+RobotStateRt       data

dsr_msgs2/srv/realtime/SetAccjRt.srv

@@ -0,0 +1,6 @@
+#____________________________________________________________________________________________
+# set_accj_rt
+#____________________________________________________________________________________________
+float64[6] acc
+---
+bool       success

dsr_msgs2/srv/realtime/SetAccxRt.srv

@@ -0,0 +1,7 @@
+#____________________________________________________________________________________________
+# set_accx_rt
+#____________________________________________________________________________________________
+float64    trans
+float64    rotation
+---
+bool       success

dsr_msgs2/srv/realtime/SetRtControlInput.srv

@@ -0,0 +1,8 @@
+#____________________________________________________________________________________________
+# set_rt_control_input
+#____________________________________________________________________________________________
+string     version
+float64    period
+int32      loss
+---
+bool       success

dsr_msgs2/srv/realtime/SetRtControlOutput.srv

@@ -0,0 +1,8 @@
+#____________________________________________________________________________________________
+# set_rt_control_output
+#____________________________________________________________________________________________
+string     version
+float64    period
+int32      loss
+---
+bool       success

dsr_msgs2/srv/realtime/SetVeljRt.srv

@@ -0,0 +1,6 @@
+#____________________________________________________________________________________________
+# set_velj_rt
+#____________________________________________________________________________________________
+float64[6] vel
+---
+bool       success

dsr_msgs2/srv/realtime/SetVelxRt.srv

@@ -0,0 +1,7 @@
+#____________________________________________________________________________________________
+# set_velx_rt
+#____________________________________________________________________________________________
+float64    trans
+float64    rotation
+---
+bool       success

dsr_msgs2/srv/realtime/StartRtControl.srv

@@ -0,0 +1,6 @@
+#____________________________________________________________________________________________
+# start_rt_control
+#____________________________________________________________________________________________
+
+---
+bool       success

dsr_msgs2/srv/realtime/StopRtControl.srv

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+#____________________________________________________________________________________________
+# stop_rt_control
+#____________________________________________________________________________________________
+---
+bool       success

dsr_msgs2/srv/realtime/WriteDataRt.srv

@@ -0,0 +1,10 @@
+#____________________________________________________________________________________________
+# write_data_rt
+#____________________________________________________________________________________________
+float64[6] external_force_torque
+int32      external_digital_input
+int32      external_digital_output
+float64[6] external_analog_input
+float64[6] external_analog_output
+---
+bool       success

dsr_realtime_control/CMakeLists.txt

@@ -0,0 +1,49 @@
+cmake_minimum_required(VERSION 3.8)
+project(dsr_realtime_control)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(example_interfaces REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(dsr_msgs2 REQUIRED)
+
+SET( COMMON_INC_FILES
+  ../common2/include
+)
+SET( COMMON_LIB_FILES
+  ../common2/lib
+)
+
+include_directories(
+  include
+  ${Boost_INCLUDE_DIRS}
+  ${COMMON_INC_FILES}
+)
+
+LINK_LIBRARIES(DRFL PocoFoundation PocoNet)
+
+if($ENV{ROS_DISTRO} STREQUAL "humble")                          
+  LINK_DIRECTORIES ("${COMMON_LIB_FILES}/$ENV{ROS_DISTRO}/x86_64")
+else()
+  message("Unknown ROS distro:")
+  message($ENV{ROS_DISTRO})
+endif()
+
+add_executable(client_to_publish src/client_to_publish.cpp)
+ament_target_dependencies(client_to_publish rclcpp dsr_msgs2)
+
+
+install(TARGETS
+  client_to_publish
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY include/
+  DESTINATION include/${PROJECT_NAME}
+)
+
+ament_package()