feat: added GripperReferenceFilter.msg for gripper_reference_filter_r…

CMakeLists.txt

@@ -26,10 +26,13 @@ set(msg_files
   "msg/ParameterArray.msg"
   "msg/HybridpathReference.msg"
   "msg/LOSGuidance.msg"
+  "msg/GripperReferenceFilter.msg" 
+  "msg/GripperState.msg"
   "msg/ReferenceFilter.msg"
   "msg/ReferenceFilterQuat.msg"
   "msg/RPY.msg"
   "msg/DVLAltitude.msg"
+  "msg/GripperWaypoint.msg"
   "msg/WaypointMode.msg"
   "msg/Waypoint.msg"
   "msg/Waypoints.msg"
@@ -67,6 +70,7 @@ set(action_files
   "action/GoToWaypoint.action"
   "action/LocateDock.action"
   "action/NavigateWaypoints.action"
+  "action/GripperReferenceFilterWaypoint.action"
   "action/VtfGuidance.action"
   "action/GuidanceWaypoint.action"
   "action/FilteredPose.action"

action/GripperReferenceFilterWaypoint.action

@@ -0,0 +1,9 @@
+# Goal
+vortex_msgs/GripperWaypoint waypoint
+float64 convergence_threshold
+---
+# Result
+bool success
+---
+# Feedback
+vortex_msgs/GripperReferenceFilter reference

msg/GripperReferenceFilter.msg

@@ -0,0 +1,11 @@
+# nu_d
+float64 roll 
+float64 pinch
+
+# nu_d_dot
+float64 roll_dot
+float64 pinch_dot
+
+# nu_d_dotdot
+float64 roll_dotdot
+float64 pinch_dotdot

msg/GripperState.msg

@@ -0,0 +1,7 @@
+std_msgs/Header header
+
+#x: gripper states
+
+float64 roll 
+float64 pinch
+

msg/GripperWaypoint.msg

@@ -0,0 +1,10 @@
+GripperReferenceFilter roll
+GripperReferenceFilter pinch
+
+uint8 mode 
+
+# GripperWaypoint mode constraints
+uint8 ROLL_AND_PINCH = 0
+uint8 ONLY_ROLL = 1
+uint8 ONLY_PINCH = 2
+