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[JTC] added time_from_start to action feedback (#1755) #1820

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[JTC] added time_from_start to action feedback (#1755) #1820

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d50b6ba
[JTC] added time_from_start to action feedback (#1755)
MikeWrock Jul 17, 2025
3785515
fix format
bmagyar Jul 17, 2025
ef16a43
Merge branch 'master' into jtc-feedback-time-from-start
bmagyar Aug 26, 2025
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2 changes: 2 additions & 0 deletions joint_trajectory_controller/src/joint_trajectory_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1312,8 +1312,10 @@ void JointTrajectoryController::publish_state(
state_publisher_->msg_.reference.positions = desired_state.positions;
state_publisher_->msg_.reference.velocities = desired_state.velocities;
state_publisher_->msg_.reference.accelerations = desired_state.accelerations;
state_publisher_->msg_.reference.time_from_start = desired_state.time_from_start;
state_publisher_->msg_.feedback.positions = current_state.positions;
state_publisher_->msg_.error.positions = state_error.positions;
state_publisher_->msg_.feedback.time_from_start = desired_state.time_from_start;
if (has_velocity_state_interface_)
{
state_publisher_->msg_.feedback.velocities = current_state.velocities;
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1 change: 1 addition & 0 deletions joint_trajectory_controller/src/trajectory.cpp
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Expand Up @@ -177,6 +177,7 @@ bool Trajectory::sample(
}
start_segment_itr = begin() + static_cast<TrajectoryPointConstIter::difference_type>(i);
end_segment_itr = begin() + static_cast<TrajectoryPointConstIter::difference_type>(i + 1);
output_state.time_from_start = next_point.time_from_start;
if (search_monotonically_increasing)
{
last_sample_idx_ = i;
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22 changes: 22 additions & 0 deletions joint_trajectory_controller/test/test_trajectory_controller.cpp
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Expand Up @@ -461,6 +461,28 @@ TEST_P(TrajectoryControllerTestParameterized, state_topic_consistency_command_jo
EXPECT_EQ(n_joints, state->output.effort.size());
}
}
TEST_F(TrajectoryControllerTest, time_from_start_populated)
{
rclcpp::executors::SingleThreadedExecutor executor;
SetUpAndActivateTrajectoryController(executor, {});
subscribeToState(executor);

// schedule a single waypoint at 100ms:
builtin_interfaces::msg::Duration tfs;
tfs.sec = 0;
tfs.nanosec = 100000000;
publish(tfs, {INITIAL_POS_JOINTS}, rclcpp::Time(0));
traj_controller_->wait_for_trajectory(executor);

updateController();
// give the publish timer one more spin
executor.spin_some();

auto state = getState();
ASSERT_TRUE(state);
EXPECT_EQ(state->feedback.time_from_start.sec, 0u);
EXPECT_EQ(state->feedback.time_from_start.nanosec, 100000000u);
}

/**
* @brief check if dynamic parameters are updated
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