search

ros-controls / control_msgs

contains base messages and actions useful for controlling robots
https://control.ros.org
BSD 3-Clause "New" or "Revised" License
49 stars 65 forks source link

Add current segment index to the FollowJointTrajectoryAction feedback. #65

Open Levi-Armstrong opened 2 years ago

Levi-Armstrong commented 2 years ago

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 commented 2 years ago

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?

— Reply to this email directly, view it on GitHub https://github.com/ros-controls/control_msgs/issues/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 commented 2 years ago

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

destogl commented 2 years ago

@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 commented 2 years ago

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