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Still fill desired/actual deprecated fields (#1172)
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joint_trajectory_controller/src/joint_trajectory_controller.cpp

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@@ -1180,6 +1180,12 @@ void JointTrajectoryController::publish_state(
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state_publisher_->msg_.reference.velocities = desired_state.velocities;
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state_publisher_->msg_.reference.accelerations = desired_state.accelerations;
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state_publisher_->msg_.feedback.positions = current_state.positions;
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// DESIRED and ACTUAL are deprecated in the message but we are still
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// reporting on them
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state_publisher_legacy_->msg_.desired.positions = desired_state.positions;
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state_publisher_legacy_->msg_.desired.velocities = desired_state.velocities;
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state_publisher_legacy_->msg_.desired.accelerations = desired_state.accelerations;
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state_publisher_legacy_->msg_.actual.positions = current_state.positions;
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state_publisher_->msg_.error.positions = state_error.positions;
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if (has_velocity_state_interface_)
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{

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