I would like to get feedback about the position of joints (in my use case these joints would be simulated as servos). This positional feedback needs to be received by PX4-Autopilot and not another system or plugin from within gazebo.
So my current working implementation is to add another sdf option to the joint-position-controller to enable feedback, and it then publishes the position of the joint on the ${joint_name}/feedback topic. PX4 then subscribes to this topic using gz-transport.
I was wondering if anyone might have other suggestion, since I would like to contribute this back, but dont want to contribute something which seems already completely off or need something small as an extra.