Feature description

I have my application calling NavigateThroughPoses and using a BT similar to the demo one.
I would like to pass back to my application more information on the state of the poses as the action progresses; for example the poses removed by RemovePassedGoals would be "completed". The poses removed by "RemoveInCollisionGoals" would be "skipped/aborted".

This would be useful for the application node for various reasons, some examples:

• going back to the unsuccessful poses in a coverage application
• maintain a list of completed poses for pausing/resuming purposes
• visualizing the poses by color

Implementation considerations

The BT nodes would communicate this feedback with the navigator through the blackboard and the navigator would pass it back through the action's feedback channel. I'm not sure in what form though, it could be through separate values e.g. int[] skipped_poses or a supercharged wrapper around geometry_msgs/PoseStampedArray poses.

Let me know your general thoughts