Include support for controller introspection #62
Description
Feature Type
Adding new functionality to the project
Problem Description
ros2_control added support for controller introspection, which makes it easier to monitor the status of a controller and hardware interface. This seems like it could be a better interface for sharing the controller state than publishing a custom message.
Feature Description
Explore integrating controller introspection to the controllers in the project. If it is an improvement over the existing interface, then it might be worth transitioning. ATM it doesn't seem like the interface has had much adoption, so this should still be exploratory.
Alternative Solutions
N/A
Additional Context
https://control.ros.org/rolling/doc/ros2_control/doc/introspection.html