Publishing EGM input_.feedback() in abb_robot_driver

[DP-owl]

I've been using the abb_robot_driver library in combination with the state_machine_addin to send joint trajectories to an ABB robot. I am able to monitor arm joint states through the rws state publisher but I would like to be able to broadcast received egm input and output as well. I have attempted to return feedback in egm_hardware_interface with little success. If I could setup a publisher similar to p_egm_state_publisher (egm_state_controller.cpp) to publish the pose info from input_ that would solve most of my issues.

Looking into abb_libegm, it seems that there are a lot more methods available to view input and output including the egm_logger and features like ExcecutionProgress in the egm_trajectory_interface file - but I am unsure if/how I can include these features into the larger abb_robot_driver package.

Ideally I would like to be able to have egm_hardware_interface publish the contents of input that egm_manager is reading to a ROS publisher for use in other parts of my system. Any help or suggestions would be tremendously appreciated! I am not the most experienced Cpp user, so I apologize if the solution is obvious!