Pavlo Kolomiiets

> I suspect this is a case were we just need to update the documentation. What behavior are you trying to achieve? > > Using scripting you could add a...

@magicrub @IamPete1 Sure, could do this with scripting. Just thought it'd be more convenient for an operator to proceed with 1 switch instead of 2.

@mikeferguson The idea of this message is to publish distance to goal along global plan plus estimated time needed to get to the goal.

The real distance along the path should be just computed instead of a straight line distance. Then, the time estimation based on max speed is the best we can do....

> Also, I did something similar over with [locomotor](https://github.com/locusrobotics/robot_navigation/blob/noetic/locomotor_msgs/action/NavigateToPose.action) I heard about `robot_navigation`, but never tried. Is there any documentation on it? How does it compares to `move_base_flex`, which seems...

> It also probably makes more sense to make an action that publishes feedback, as opposed to creating a new topic just called feedback. What about extending existing action feedback...

> > What about extending existing action feedback instead of publishing to a new message? > > You can't change the action feedback - that would change the MD5 checksum...

> Other than knowing what the current linear velocity is, is there any part of this that you can't derive from other published material? You can get the pose from...

Any updates on this?

@mikeferguson The whole idea was to keep all transformations done during one local planner cycle consistent. I agree it can be a little bit confusing. I see your point and...