Desired vs Applied Action

The action given by the user is called the desired action. Depending on the implementation of the RobotDriver, this action may be altered before it is actually applied on the robot, e.g. by some safety checks limiting torque and maximum velocity. This altered action is called the applied action. You can use robot_interfaces::RobotFrontend::get_applied_action() to see what action actually got applied on the robot.