So there seems to be a lot of info that move_basic is aware of during goal movement, but cannot be communicated back to the action client. There is technically a string in GoalStatus, but there doesn't seem to be a way to access that in the python implementation at least.
I would propose creating an extra topic where some of this data could be published, such as:
current action being taken (rotating, linear move)
are we waiting for an obstacle
distance remaining to goal
etc.
That could then be displayed as relevant info in breadcrumb an ezmap, since it's sometimes not clear why the robot is standing still near a goal that's close to a wall or something, which is unintentionally triggering the obstacle wait.
So there seems to be a lot of info that move_basic is aware of during goal movement, but cannot be communicated back to the action client. There is technically a string in GoalStatus, but there doesn't seem to be a way to access that in the python implementation at least.
I would propose creating an extra topic where some of this data could be published, such as:
That could then be displayed as relevant info in breadcrumb an ezmap, since it's sometimes not clear why the robot is standing still near a goal that's close to a wall or something, which is unintentionally triggering the obstacle wait.