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ros-controls / ros_controllers

Generic robotic controllers to accompany ros_control
http://wiki.ros.org/ros_control
BSD 3-Clause "New" or "Revised" License
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JointTrajectoryController: time_from_start in state feedback messages is empty #535

Closed machinekoder closed 3 years ago

machinekoder commented 3 years ago

The JointTrajectoryController doesn't fill the time_from_start field of the JointTrajectoryPoint in the JointTrajectoryControllerState message published via the state topic and action interface.

Filling out the time_from_start field would be useful to get some feedback on which part of the executed trajectory is currently running and thus how far we are along the trajectory path.

machinekoder commented 3 years ago

Here is the message definition: http://docs.ros.org/en/api/control_msgs/html/msg/JointTrajectoryControllerState.html