Changed message types and error handling to better suit behavior tree.

src/ros_actor_message_queue_msgs/CMakeLists.txt

@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 project(ros_actor_message_queue_msgs)
 
 find_package(ament_cmake REQUIRED)
+find_package(geometry_msgs REQUIRED)
 
 add_library(${PROJECT_NAME} INTERFACE)
 

src/ros_actor_message_queue_msgs/include/ros_actor_message_queue_msgs/MessageTypes.hpp

@@ -1,3 +1,4 @@
+#include <geometry_msgs/msg/detail/pose__struct.hpp>
 namespace ros_actor_message_queue_msgs{
 enum ActorPluginState{
   SETUP,IDLE,ANIMATION,MOVEMENT
@@ -6,11 +7,12 @@ enum ActorPluginState{
 struct FeedbackMessage{
   ActorPluginState state;
   float progress;
+  geometry_msgs::msg::Pose current;
 };
 
 struct ActionMessage{
   ActorPluginState state;
-  float positionX = 0.0f, positionY = 0.0f, positionZ = 0.0f;
+  geometry_msgs::msg::Pose target;
   float animationSpeed = 1.0f,animationDistance = 1.0f;
   char animationName[256];
 };