Add current segment index to the FollowJointTrajectoryAction feedback.

[Levi-Armstrong]

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?

[bmagyar]

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 :)

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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? — Reply to this email directly, view it on GitHub <#65>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AA24PYNMP4M67DIIRGDWVKTUZ7YMDANCNFSM5NX6WXXA> . Triage notifications on the go with GitHub Mobile for iOS <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> or Android <https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub>. You are receiving this because you are subscribed to this thread.Message ID: ***@***.***>

[Levi-Armstrong]

@bmagyar I have some availability to work on this. How would you like me to proceed?

[destogl]

@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.

[bmagyar]

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