[JTC] Report on deprecated feedback

[bmagyar]

Even though the desired and actual fields are deprecated, we should still fill them in.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 86.63%. Comparing base (deeb9d0) to head (b184ce7).

Additional details and impacted files

@@            Coverage Diff             @@
##           humble    #1172      +/-   ##
==========================================
- Coverage   86.66%   86.63%   -0.04%     
==========================================
  Files          86       86              
  Lines        7485     7490       +5     
  Branches      616      618       +2     
==========================================
+ Hits         6487     6489       +2     
  Misses        767      767              
- Partials      231      234       +3     

Flag	Coverage Δ
unittests	86.63% <100.00%> (-0.04%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files	Coverage Δ
...ory_controller/src/joint_trajectory_controller.cpp	83.83% <100.00%> (+0.06%)	⬆️

... and 2 files with indirect coverage changes

[saikishor]

Makes perfect sense

[bmagyar]

FYI @MarqRazz

[MarqRazz]

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.

[MarqRazz]

Why only position for actual?

[christophfroehlich]

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.

maybe I don't get what you try to achieve, but the reference field is the interpolated output?

[christophfroehlich]

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

[MarqRazz]

maybe I don't get what you try to achieve, but the reference field is the interpolated output?

I am looking for the interpolated output to the commanded hardware. According to the message reference is the input and output is for the hardware. If I wanted to see the interpolated values for velocity or acceleration I can't when my arm is only commanded with position.

What are actual and desired for? All they contain is time_from_start and they are always zero.

I'm all for removing them too!