Publish joint temperature

[tassos]

Since we need temperature information on the motor level for parameters identification, I implemented publishers for publishing the joint temperature as retrieved by the driver. I am making a pull request in case this would be useful for others too, and to get some feedback on my implementation.

Based on previous discussions at #35 and ros-industrial-attic/ur_modern_driver#81, I used the sensor_msgs::Temperature message type and constructed a publisher for each joint. I have two questions:

• Would it make sense to create a custom message for publishing an array of temperatures, so that only one topic would be enough?
• I read at Incorrect frame_id values for Temperature messages? ros-industrial-attic/ur_modern_driver#315 and Use link names in temperature messages ros-industrial-attic/ur_modern_driver#320 that link names might be preferred over joint names for the frame_id. Is this indeed the case? What would be the most convenient way to retrieve link names?

[fmauch]

Please see #35

I'd like to get this fixed all together.

[tassos]

I can understand that this PR is way more general, but is it actually still work in progress, cause it seems a bit stalled.

[fmauch]

That's right. That also means, that any help in this would be very appreciated :-)

[tassos]

Ok got it. I will see if I can somehow contribute there then. Feel free to close this pull request then, and in case someone needs urgently temperature measurements, they can check out the corresponding branch.

[fmauch]

Ok got it. I will see if I can somehow contribute there then. Feel free to close this pull request then, and in case someone needs urgently temperature measurements, they can check out the corresponding branch.

That's why I would leave it open. It would be awesome if you could contribute to #35 I would very much like to get this done, but couldn't find the time to tackle it, yet.

[github-actions]

This PR hasn't made any progress for quite some time and will be closed soon. Please comment if it is still relevant.

[fmauch]

please keep.

[github-actions]

This PR hasn't made any progress for quite some time and will be closed soon. Please comment if it is still relevant.