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Add in vehicle joint command service #16

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Merged
zeerekahmad merged 1 commit into from
Apr 14, 2026
Merged

Add in vehicle joint command service #16

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27 changes: 27 additions & 0 deletions srv/VehicleJointCommand.srv
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Original file line number Diff line number Diff line change
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## Request
# Commands for a specific joint, assumes it will get to what you target async
# If you want to use a command, set the value to something other than UNUSED
# Only one command type will be used, priority is position, then velocity, then effort. If you set more than one, the priority will be used to determine which one is used.

float64 UNUSED=-999999

# Target position for the joint command
float64 target_position -999999

# Target velocity for the joint command
float64 target_velocity -999999

# Target effort for the joint command
float64 target_effort -999999

# Timeout for the command being sent
uint32 tiemout_ms 5000

---
## Response

# Indicate successful run of service
bool success

# Error messages
string error
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