[JTC] Report on deprecated feedback #1172
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Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## humble #1172 +/- ##
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- Coverage 86.66% 86.63% -0.04%
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Files 86 86
Lines 7485 7490 +5
Branches 616 618 +2
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+ Hits 6487 6489 +2
Misses 767 767
- Partials 231 234 +3
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FYI @MarqRazz |
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This will help with the issue I was running into but once the deprecated message is removed the new one is still missing functionality.
If I send this a trajectory you can see/plot position, velocity, acceleration in the reference value published in the controller_state. If I wanted to plot the output you can only see the values calculated for the claimed interface (i.e. position in my case).
The old functionality allowed me to see/plot position, velocity, acceleration of the input & output so that I can visualize what the interpolation is doing to my trajectory.
| state_publisher_legacy_->msg_.desired.positions = desired_state.positions; | ||
| state_publisher_legacy_->msg_.desired.velocities = desired_state.velocities; | ||
| state_publisher_legacy_->msg_.desired.accelerations = desired_state.accelerations; | ||
| state_publisher_legacy_->msg_.actual.positions = current_state.positions; |
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Why only position for actual?
maybe I don't get what you try to achieve, but the reference field is the interpolated output? |
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I vote for deleting the fields in the control msg instead. If there's something missing in the current design, let's discuss the roadmap proposal, implemented with ros-controls/control_msgs#86
I haven't realized this is for humble
I am looking for the interpolated output to the commanded hardware. According to the message What are I'm all for removing them too! |
Even though the
desiredandactualfields are deprecated, we should still fill them in.