So there seems to be a lot of info that move_basic is aware of during goal movement, but cannot be communicated back to the action client. There is technically a string in GoalStatus, but there doesn't seem to be a way to access that in the python implementation at least.
I would propose creating an extra topic where some of this data could be published, such as:
- current action being taken (rotating, linear move)
- are we waiting for an obstacle
- distance remaining to goal
- etc.
That could then be displayed as relevant info in breadcrumb an ezmap, since it's sometimes not clear why the robot is standing still near a goal that's close to a wall or something, which is unintentionally triggering the obstacle wait.
So there seems to be a lot of info that move_basic is aware of during goal movement, but cannot be communicated back to the action client. There is technically a string in GoalStatus, but there doesn't seem to be a way to access that in the python implementation at least.
I would propose creating an extra topic where some of this data could be published, such as:
That could then be displayed as relevant info in breadcrumb an ezmap, since it's sometimes not clear why the robot is standing still near a goal that's close to a wall or something, which is unintentionally triggering the obstacle wait.