update command interfaces

moveit_py/moveit/policies/policy.py

@@ -32,14 +32,18 @@
 #
 # Author: Peter David Fagan
 
-""" Definition of an abstract base class for policy deployment. """
+""" 
+Definition of an abstract base class for policy deployment. 
+This policy only support command interfaces that are provided in the moveit_servo package.
+"""
 
 from abc import ABC, abstractmethod
 
 import rclpy
 from rclpy.node import Node
 from rclpy.qos import QoSProfile
 
+from control_msgs.msg import JointJog
 from geometry_msgs.msg import PoseStamped, Twist
 from sensor_msgs.msg import Image
 
@@ -102,6 +106,8 @@ def get_command_msg_type(self, msg_type):
             return PoseStamped
         elif msg_type == "geometry_msgs/Twist":
             return Twist
+        elif msg_type == "control_msgs/JointJog":
+            return JointJog
         else:
             raise ValueError("Controller type {} not supported.".format(msg_type))