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joint_trajectory_controller/src
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lines changed Original file line number Diff line number Diff line change @@ -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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