possibility to get currents via status samples

[dettmann]

I need the currents from simulation as from the real robot, which is also sending currents instead of torques. The usage of the current output port not good, since it causes lot's of sim dependencies when utilized in another component.

I'm not sure, if this is the best way. Alternatively, one could use a base/types port for the currents or even a second base::samples:joints port (one filled with torques and one filled with currents)?

By the way, my editor removed all spaces causing many diffs. If desired, I could generate another commit just with the actual changes.

[planthaber]

I think writing the current in a defined field of a JointState is a bad idea

/** Torque in N.m for angular joints and N for linear ones */
float effort;

The components evaluating the current might later be confused with the one evaluating torques.

So I think the best way would be to extend the JointState.hpp from base::types to also support currents.

[dettmann]

You're right. I also thought of this. But I don't want to live with a patched base/type for longer time ;) (especially not when using the debian packages)

If we change the JointState then we need to add also a reference position field (in mars, the raw field is used, which is also already a misuse)