msgs(gripper): trim unused state fields and action feedback#66
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Addresses two PR review comments on gripper_guidance/src/gripper_reference_filter_ros.cpp: L145 (jorgenfj): "Does the gripper reference message need to be 6d if we ever only use the first two dims?" GripperReferenceFilter trimmed from 6 floats (roll, pinch, roll_dot, pinch_dot, roll_dotdot, pinch_dotdot) to 2 floats (roll, pinch). The filter genuinely computes derivatives but no downstream consumer (controller translator, sim bridge, CAN interface) reads anything beyond .roll and .pinch. GripperWaypoint changed from nested GripperReferenceFilter roll/pinch (only .roll.roll and .pinch.pinch were ever read; the five derivative fields per axis were always sent as 0 and never read) to flat float64 roll, float64 pinch. L258 (jorgenfj): "Should remove feedback from the action definition and just publish to topic if anyone is interested" GripperReferenceFilterWaypoint.action: feedback section emptied. The filter already publishes its smoothed reference on the topic output; mirroring it as action feedback was redundant.
Required by the open-loop gripper controller added in vortexntnu/vortex-gripper#10. The action accepts a velocity command and a fixed duration. The controller publishes that velocity on GripperStateVelocityCommand at a fixed rate for the specified duration, then stops and completes the goal. Intended as a feedback-free fallback when gripper state is not observable. Goal: float64 roll_velocity float64 pinch_velocity float64 duration_seconds uint8 mode (ROLL_AND_PINCH=0, ONLY_ROLL=1, ONLY_PINCH=2) Result: bool success Feedback: float64 elapsed_seconds
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Addresses two PR review comments on
gripper_guidance/src/gripper_reference_filter_ros.cpp:
(jorgenfj): "Does the gripper reference message need to be 6d if we
ever only use the first two dims?"
GripperReferenceFilter trimmed from 6 floats (roll, pinch, roll_dot,
pinch_dot, roll_dotdot, pinch_dotdot) to 2 floats (roll, pinch). The
filter genuinely computes derivatives but no downstream consumer
(controller translator, sim bridge, CAN interface) reads anything
beyond .roll and .pinch.
GripperWaypoint changed from nested GripperReferenceFilter roll/pinch
(only .roll.roll and .pinch.pinch were ever read; the five derivative
fields per axis were always sent as 0 and never read) to flat float64
roll, float64 pinch.
(jorgenfj): "Should remove feedback from the action definition
and just publish to topic if anyone is interested"
GripperReferenceFilterWaypoint.action: feedback section emptied. The
filter already publishes its smoothed reference on the topic output;
mirroring it as action feedback was redundant.