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added time_from_start to action feedback #1756

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@MikeWrock MikeWrock commented Jun 12, 2025

Not sure how easy this will be to backport to humble, but here it the PR that I tested on humble

The JTC does not publish the desired time_from_start in the feedback topic.

I wish to build a action client that monitors the progress of the trajectory, and has the ability to resume a partially completed trajectory. For this reason, I need the time_from_start feedback.

This PR populates the time_from_start element of the feedback message with the desired time_from_start

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@bmagyar bmagyar left a comment

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thank you!

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@saikishor saikishor left a comment

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/home/runner/work/ros2_controllers/ros2_controllers/.work/target_ws/src/ros2_controllers/joint_trajectory_controller/src/trajectory.cpp:188:34: error: ‘next_point’ was not declared in this scope
    188 |   output_state.time_from_start = next_point.time_from_start;
        |                                  ^~~~~~~~~~
  gmake[2]: *** [CMakeFiles/joint_trajectory_controller.dir/build.make:90:

@MikeWrock it seems the next_point is out of scope here. Could you please fix it?.

Thank you

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