Write feedback for the RealtimeServerGoalHandle to publish. #213
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…-realtime thread.
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I cannot merge this as is because it's not based on the latest kinetic-devel. I still intend to, so I may hand-pick the changes myself. |
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Rebase done & merged on #219, closing this one |
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This builds upon ros-controls/realtime_tools#18 to make the
joint_trajectory_controllerpublish action feedback on the actionlib topic, as discussed in #173.It re-uses the non-realtime publishing capability of RealtimeServerGoalHandle to also deliver the action feedback using the same rate with which the action status is published (i.e.
action_monitor_rate), instead of publishing at the same rate the state messages are published (i.e.state_publish_rate).