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For the Joint Trajectory action server, standardize returned error results. #375

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adamdbrw opened this issue Jun 29, 2023 · 1 comment
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For the Joint Trajectory action server, standardize returned error results. #375

adamdbrw opened this issue Jun 29, 2023 · 1 comment
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feature/robotics This item is related to robotics. good-first-issue Issue ready for a new contributor according to the help wanted guidelines. kind/enhancement Enhancement to an existing feature. priority/minor Lowest priority. Work that may be scheduled

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@adamdbrw
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Currently, some ways of returning errors are not fully informative for the action client.

  • Review the specification of action servers and control_msgs::action::FollowJointTrajectory.
  • Correct the flow of results such as from cancellation or invalid goal.
    For example, if the goal cannot be reached, first accept it, and then return a failure result. Currently it is rejected with rclcpp_action::GoalResponse::REJECT, which does not leave an information as to why.
@adamdbrw adamdbrw added kind/enhancement Enhancement to an existing feature. good-first-issue Issue ready for a new contributor according to the help wanted guidelines. priority/minor Lowest priority. Work that may be scheduled feature/robotics This item is related to robotics. labels Jun 29, 2023
@lewandowskikacper lewandowskikacper mentioned this issue Jul 6, 2023
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@michalpelka
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Fixed with 386 by @lewandowskikacper .

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feature/robotics This item is related to robotics. good-first-issue Issue ready for a new contributor according to the help wanted guidelines. kind/enhancement Enhancement to an existing feature. priority/minor Lowest priority. Work that may be scheduled
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@michalpelka @adamdbrw