Force mode arguments ros2 #26
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I also changed some of the types in the service definition to match the ones used in the ROS1 version, as they didn't match and that seems weird, when they do the same thing. |
The wrench is explicitly not stamped, since its geometric interpretation differs depending on the `type` used. Also for the limits a plain 6d vector is used, since its interpretation is either a velocity or a position boundary.
And make identical to ROS1 version, add default values
Also added constants for the type parameter and added default values to all the simple values
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Since the geometric representation if the wrench is dependong on both, the type and the task frame, it doesn't relly make sense to use a stamped wrench here.
Having different domains in one field seems like an anti-pattern.
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Add force mode arguments damping and gain scaling to the force mode service definition. This will be possible to specify in the Client library when this PR is implemented.
This is an update to PR.