Trajectory until action definition

[URJala]

For use with trajectory until node.

[urfeex]

Looks good to me

[gavanderhoorn]

Bit late perhaps: was composition considered? The action definition added by this PR appears to essentially be an extension of the base FollowJointTrajectory action definition, adding (a) new field(s) and constants.

Composition would seem to make code reuse much easier (tools/controllers consuming and producing FollowJointTrajectory goals fi) while this extension makes it immediately incompatible with existing code.

[urfeex]

Thank you for the feedback. I agree that a composition would be better in terms of reuse. However, since the FollowJointTrajectory.action defines all the fields in the action definition, it is to my knowledge not possible to compose this. Can I add another action's goal definition to my own action goal definition?