Additional data feedback from the microcontroller ?

[baryn]

Hi,

In my current application involving a LIMO I wish to get some data from the robot such as the wheel rotational speed or the motors current. It seems additional data field appear in the ugv_sdk: protocol. Is this code generic for all agilex robots and restricted for the LIMO or do you think the LIMO micro-controller itself could send back this kind of data ?
I have checked all frame.id coming from the limo_base driver frame parser but none correspond to extra fields present in the mentioned protocol header.

Cheers,
Bryan