universal_robots_ros action server didn't publish message to /follow_joint_trajectory/result and /follow_joint_trajectory/feedback

[ipa-rwu]

Describe the Bug
I am using controller/universal_robots_ros. When I send a goal from RVIZ, the arm moved. But RVIZ didn't get the feedback and result. So I check topic /follow_joint_trajectory/result and /follow_joint_trajectory/feedback, I found there is empty. I edit the function def update(self) in controller/universal_robots_ros/trajectory_follower.py
to this

    def update(self):
        if self.robot and self.trajectory:

            now = self.robot.getTime()
            if (now - self.trajectory_t0) <= self.trajectory.points[-1].time_from_start.to_sec():  # Sending intermediate points
                self.last_point_sent = False
                setpoint = sample_trajectory(self.trajectory, now - self.trajectory_t0)
                for i in range(len(setpoint.positions)):
                    self.motors[i].setPosition(setpoint.positions[i])
                    # Velocity control is not used on the real robot and gives bad results in the simulation
                    # self.motors[i].setVelocity(math.fabs(setpoint.velocities[i]))
                state = self.jointStatePublisher.last_joint_states
                self.feedback.actual.positions = state.position
            elif not self.last_point_sent:  # All intermediate points sent, sending last point to make sure we reach the goal.
                last_point = self.trajectory.points[-1]
                state = self.jointStatePublisher.last_joint_states
                position_in_tol = within_tolerance(state.position, last_point.positions, self.joint_goal_tolerances)
                setpoint = sample_trajectory(self.trajectory, self.trajectory.points[-1].time_from_start.to_sec())
                for i in range(len(setpoint.positions)):
                    self.motors[i].setPosition(setpoint.positions[i])
                self.last_point_sent = True
                print 'last point'
                if self.goal_handle:
                    self.goal_handle.set_succeeded()
                    self.goal_handle = None
                    state = self.jointStatePublisher.last_joint_states
                    position_in_tol = within_tolerance(state.position, last_point.positions, [0.1] * 6)
                    velocity_in_tol = within_tolerance(state.velocity, last_point.velocities, [0.05] * 6)

Now I can get message in /follow_joint_trajectory/result. But I think there is no message publish to /follow_joint_trajectory/feedback in this code.

It will be nice if you guys can check.

[DavidMansolino]

You are correct, these topics are not publishing anything.
The joint state is published in the /joint_states topic.
But it would be nice indeed to publish the follow_joint_trajectory topics, I checked the code you sent but it seems some parts are missing as self.feedback is never defined (it runs fines but still nothing is published).