control_msgs
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ros-controls
Add current segment index to the FollowJointTrajectoryAction feedback.
When using the joint trajectory controller it would be useful to know the current segment being executed in the trajectory in the event of a path tolerance violation to allow recovery. Would the maintainer be open to PR adding this to the feedback message?
Hi Levi,
Yes I think this is an intuitive extension to JTC and the information should already be available, however, this be quite a breaking change as any change to ROS messages changes the md5 hash... I'm not saying it's a no-go but we should consider the consequences. A blunt approach would just create a new message and while that'd be the typical corporate approach I'd prefer to not do that in open source :)
On Mon, 7 Feb 2022, 16:37 Levi Armstrong, @.***> wrote:
When using the joint trajectory controller it would be useful to know the current segment being executed in the trajectory in the event of a path tolerance violation to allow recovery. Would the maintainer be open to PR adding this to the feedback message?
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@bmagyar I have some availability to work on this. How would you like me to proceed?
@Levi-Armstrong just make proposal for message extension in a PR and we can then see what extension is needed on the controller's side.
Yup! We could also create a master branch here too to target rolling & upcoming ROS releases. If we make it on time it could get into Humble too