Added controller states feedback for multi dof joints

[gstavrinos]

No description provided.

[destogl]

@gstavrinos can you explain a bit motivation and goals of this PR?

[gstavrinos]

Of course:

I am building a controller for a quadcopter and using the FollowJointTrajectory action to command it through MoveIt. Inside the FollowJointTrajectory action I am using the multi_dof_trajectory field for the command, but when I have to report the feedback (state) of my controller, the "expected" multi_dof_trajectory is not there.

If I wasn't clear enough, please inform me!

[bmagyar]

The PR makes sense but the write-up is off a bit. The action feedback actually has those fields,this is a message definition that gets published on the topic interface. It's out of alignment with the action so the fix is completely reasonable. Thanks!

[destogl]

@gstavrinos thanks for giving us insight how you are using this.

Would be happy to see also PR on ros2_controller if you decide to open-source your work :) We currently don't have much support for drones, but it is for sure very fascinating 🛩 (cannot find any drone emoji)

[gstavrinos]

It will definitely be open source when it's stable enough. I would be more than happy to contribute to ros2_controllers, given that it meets the required standards! :)

(thank you both the for accepted PR)

[destogl]

@gstavrinos what about publishing controller :D?

[gstavrinos]

Hey Denis, thanks for the interest. The project is currently on hold for about 2 months due to other priorities, but I will eventually get back to it and make it open source as soon as I have a working implementation! :)