Publishing JointTrajectoryControllerState from diff_drive_controller

[nishino-pfr]

Is your feature request related to a problem? Please describe.
In ROS1, the diff_drive_controller had an option to publish JointTrajectoryControllerState, which was very useful for checking motor control performance.

Describe the solution you'd like
It would be great to add this feature to the ROS2 diff_drive_controller as well.

Describe alternatives you've considered

Additional context
Related to ros-controls/ros_controllers#408

[christophfroehlich]

Why have you closed the issue, had you found a workaround for that?

FYI: We plan to integrate debug mechanisms like pal_statistics or data_tamer, or as simple topic ros-controls/ros2_control#1244
This means that it won't be necessary to add such types of publishers for debugging to every controller.

[bmagyar]

We also have controller_state published from all steering controllers and the JTC too. The diff drive controller may not have it but if it did, would that be helpful?

…

On Fri, 25 Oct 2024, 08:26 Christoph Fröhlich, ***@***.***> wrote: Why have you closed the issue, had you found a workaround for that? FYI: We plan to integrate debug mechanisms like pal_statistics <https://github.com/pal-robotics/pal_statistics> or data_tamer <ros-controls/ros2_control#1255>, or as simple topic ros-controls/ros2_control#1244 <ros-controls/ros2_control#1244> This means that it won't be necessary to add such types of publishers for debugging to every controller. — Reply to this email directly, view it on GitHub <#1318 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AA24PYJN565KUOD3YLHMBY3Z5HQCDAVCNFSM6AAAAABQMUA3B6VHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDIMZWHE3TSMRSGA> . You are receiving this because you are subscribed to this thread.Message ID: ***@***.***>