• Hardware description: Yaskawa Motoman
• Version or commit hash: 3e5e219

Question

Is there currently a proper way to populate type-specific response data from an action server goal request? Is there a pointer somewhere to the response message? AFAICT, the action response is a generic pass/fail with no additional data.

I've got a FollowJointTrajectory server implemented. If an invalid trajectory is submitted (or the robot isn't ready), then I want to reply to the user with information on WHY the trajectory was rejected. The message format for the FJT action allows for this additional information. But, I'm not seeing how to populate this.

Currently, I am simply returning RCL_RET_ACTION_GOAL_REJECTED from the goal_callback function.

Any guidance would be appreciated.