Extend-Robotics · nitish3693 · Sep 29, 2025
diff --git a/msg/ArmControl.msg b/msg/ArmControl.msg
@@ -11,4 +11,4 @@ extend_msgs/BioIKTarget[] targets
 
 
 # jointStates contains present position of each active joint
-float64[] jointStates
+float64[] joint_states
diff --git a/msg/ArmResponse.msg b/msg/ArmResponse.msg
@@ -1,18 +1,18 @@
 std_msgs/Header header
 
 # armResponse denotes the state of the physical robot arm
-std_msgs/Int16 armResponse
+std_msgs/Int16 arm_response
 
 # bioIKResponse denotes the state of the bio IK
-std_msgs/Int16 bioIKResponse
+std_msgs/Int16 bio_ik_response
 
 # jointStates contains present position (in  radians) of each active joint
-float64[] jointStates
+float64[] joint_states
 
-float64[] jointTorque
+float64[] joint_torque
 
 # linkDetails contains the detail such as the name and the Pose of the target link in the physical robot
-extend_msgs/LinkDetails[] linkDetails
+extend_msgs/LinkDetails[] link_details
 
 
 # Plan using planner

diff --git a/msg/BioIKTarget.msg b/msg/BioIKTarget.msg
@@ -1,5 +1,5 @@
 # The name of this goal's end effector link
-string linkName
+string link_name
 
 # Weight of the current goal
 # Goals with a higher weight will have a stronger influence than goals with a smaller weight

diff --git a/msg/ConnectionManager.msg b/msg/ConnectionManager.msg
@@ -1,4 +1,4 @@
-string[] connectionQueue
-string currentTeleopController
-string potentialTeleopController
-string[] deregisteredConnections
+string[] connection_queue
+string current_teleop_controller
+string potential_teleop_controller
+string[] deregistered_connections
diff --git a/msg/ControlDebug.msg b/msg/ControlDebug.msg
@@ -1,4 +1,3 @@
-std_msgs/Header commandGeneratedTimestamp
-std_msgs/Header commandReceivedTimestamp
-std_msgs/Header commandProcessedTimestamp
-
+std_msgs/Header command_generated_timestamp
+std_msgs/Header command_received_timestamp
+std_msgs/Header command_processed_timestamp
diff --git a/msg/CortexConfiguration.msg b/msg/CortexConfiguration.msg
@@ -1,4 +1,4 @@
 string name
-string deviceType
-string connectionIP
-string rosPort
+string device_type
+string connection_ip
+string ros_port
diff --git a/msg/GripperControl.msg b/msg/GripperControl.msg
@@ -1,6 +1,6 @@
 std_msgs/Header header
-std_msgs/Bool gripperDigital
-std_msgs/Float64 gripperAnalog
-std_msgs/Float64 gripperEffort
-std_msgs/Int16 gripperPin
-float64[] handJointValues
+std_msgs/Bool gripper_digital
+std_msgs/Float64 gripper_analog
+std_msgs/Float64 gripper_effort
+std_msgs/Int16 gripper_pin
+float64[] hand_joint_values
diff --git a/msg/GripperJointInfo.msg b/msg/GripperJointInfo.msg
@@ -1,15 +1,15 @@
 #Joint positions Values
-string[] gripperJointNames
+string[] gripper_joint_names
 
 #Joint positions Values
-float64[] gripperJointValues
+float64[] gripper_joint_values
 
 #Joint Efforts Values
-float32[] gripperJointEffortValues
+float32[] gripper_joint_effort_values
 
 
 #Joint Temperature Values 
-float32[] gripperJointTemperature
+float32[] gripper_joint_temperature
 
 #error_code
-int32[] gripperJointErrorCode
+int32[] gripper_joint_error_code
diff --git a/msg/GripperResponse.msg b/msg/GripperResponse.msg
@@ -2,13 +2,13 @@
 std_msgs/Header header
 
 # ID of the gripper
-int32[] gripperID
+int32[] gripper_id
 
 #Gripper Type 
-string[] gripperType
+string[] gripper_type
 
-extend_msgs/GripperJointInfo gripperJointInfo
+extend_msgs/GripperJointInfo gripper_joint_info
 
-extend_msgs/GripperSensorInfo[] gripperSensorInfo
+extend_msgs/GripperSensorInfo[] gripper_sensor_info
 
-int32 gripperError
+int32 gripper_error
diff --git a/msg/GripperSensorInfo.msg b/msg/GripperSensorInfo.msg
@@ -1,6 +1,6 @@
 
-string gripperSensorLocation
+string gripper_sensor_location
 
-geometry_msgs/Vector3[] gripperforceSensorVectorValues
+geometry_msgs/Vector3[] gripper_force_sensor_vector_values
 
-int32[] gripperSensorTemperatures
+int32[] gripper_sensor_temperatures
diff --git a/msg/LinkDetails.msg b/msg/LinkDetails.msg
@@ -1,5 +1,5 @@
 # The name of the link
-string linkName
+string link_name
 
 # The link pose based on the tf wrt to the base of the robot
 geometry_msgs/Pose pose
diff --git a/srv/ControlManager.srv b/srv/ControlManager.srv
@@ -5,8 +5,8 @@
 	# 4 : Current Selected Topic for output
 	# 5 : Delete Topic from the List
 	# 6 : Control Request Denied Bump the potential controller to next
-std_msgs/Int16 operationMode
-string instreamTopicName
+std_msgs/Int16 operation_mode
+string instream_topic_name
 ---
-std_msgs/Int16 responseCode
-string outstreamTopic
+std_msgs/Int16 response_code
+string outstream_topic
diff --git a/srv/CortexConfigurationInfo.srv b/srv/CortexConfigurationInfo.srv
@@ -1,4 +1,4 @@
-string connectionIP
+string connection_ip
 ---
-string cortexName
-CortexConfiguration[] cortexConfiguration
+string cortex_name
+CortexConfiguration[] cortex_configuration
diff --git a/srv/GetListOfFiles.srv b/srv/GetListOfFiles.srv
@@ -1,3 +1,3 @@
 string path
 ---
-string[] fileNames
+string[] file_names
diff --git a/srv/SafetyParameter.srv b/srv/SafetyParameter.srv
@@ -1,3 +1,3 @@
-float64[] fs004ThresholdArray
+float64[] fs004_threshold_array
 ---
 bool success
Original file line number	Diff line number	Diff line change
Expand Up		@@ -11,4 +11,4 @@ extend_msgs/BioIKTarget[] targets


		# jointStates contains present position of each active joint
		float64[] jointStates
		float64[] joint_states