From 4c6a21e77bf3633d0b401d7e7c262a8c6b761847 Mon Sep 17 00:00:00 2001 From: Andrei Costinescu Date: Tue, 13 Jan 2026 08:58:05 +0100 Subject: [PATCH 1/3] Add stamp_smoothed_velocity_with_smoothing_time parameter description to velocity_smoother node Added the description of a new parameter for timestamp interpolation of smoothed cmd_vel messages. This parameter only appears in ROS2 Jazzy and the behavior (when the parameter is true) is the default behavior in newer-than-jazzy distributions. Signed-off-by: Andrei Costinescu --- .../configuring-velocity-smoother.rst | 19 +++++++++++++++++++ 1 file changed, 19 insertions(+) diff --git a/configuration/packages/configuring-velocity-smoother.rst b/configuration/packages/configuring-velocity-smoother.rst index 62a1e48a36..fe706b74a3 100644 --- a/configuration/packages/configuring-velocity-smoother.rst +++ b/configuration/packages/configuring-velocity-smoother.rst @@ -161,6 +161,24 @@ Velocity Smoother Parameters True uses TwistStamped, false uses Twist. Note: This parameter is default ``false`` in Jazzy or older! Kilted or newer uses ``TwistStamped`` by default. +:stamp_smoothed_velocity_with_smoothing_time: + + ============== ============================= + Type Default + -------------- ----------------------------- + bool false + ============== ============================= + + Description + Whether to interpolate the timestamps of the smoothed `geometery_msgs:msg::TwistStamped` cmd_vel message. + + Default is ``false`` for backwards compatibility. + + When ``true``, the timestamps of the sent cmd_vel message follow the rule: + ``cmd_vel_timestamp = cmd_vel_timestamp_of_last_received_command + (timestamp_now - timestamp_at_last_received_command)`` + + Note: This parameter only appears in Jazzy! Smoothing the timestamps is part of the default behavior in newer-than-jazzy distros. + :bond_heartbeat_period: ============== ============================= @@ -202,3 +220,4 @@ Example odom_duration: 0.1 use_realtime_priority: false enable_stamped_cmd_vel: false + stamp_smoothed_velocity_with_smoothing_time: false # ONLY IN JAZZY From 4cb7deaffdde7378faf329067e348bae0d774c2c Mon Sep 17 00:00:00 2001 From: Andrei Costinescu Date: Tue, 13 Jan 2026 11:38:02 +0100 Subject: [PATCH 2/3] Fix formatting in configuring-velocity-smoother.rst Remove whitespaces to pass pre-commit checks Signed-off-by: Andrei Costinescu --- configuration/packages/configuring-velocity-smoother.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/configuration/packages/configuring-velocity-smoother.rst b/configuration/packages/configuring-velocity-smoother.rst index fe706b74a3..f5a0b8820a 100644 --- a/configuration/packages/configuring-velocity-smoother.rst +++ b/configuration/packages/configuring-velocity-smoother.rst @@ -176,7 +176,7 @@ Velocity Smoother Parameters When ``true``, the timestamps of the sent cmd_vel message follow the rule: ``cmd_vel_timestamp = cmd_vel_timestamp_of_last_received_command + (timestamp_now - timestamp_at_last_received_command)`` - + Note: This parameter only appears in Jazzy! Smoothing the timestamps is part of the default behavior in newer-than-jazzy distros. :bond_heartbeat_period: From 3ef2495c4c90417cdf5a311efcad5a6c8d1e8151 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Tue, 13 Jan 2026 09:25:34 -0800 Subject: [PATCH 3/3] Update configuration/packages/configuring-velocity-smoother.rst Signed-off-by: Steve Macenski --- configuration/packages/configuring-velocity-smoother.rst | 9 +-------- 1 file changed, 1 insertion(+), 8 deletions(-) diff --git a/configuration/packages/configuring-velocity-smoother.rst b/configuration/packages/configuring-velocity-smoother.rst index f5a0b8820a..6093508cb8 100644 --- a/configuration/packages/configuring-velocity-smoother.rst +++ b/configuration/packages/configuring-velocity-smoother.rst @@ -170,14 +170,7 @@ Velocity Smoother Parameters ============== ============================= Description - Whether to interpolate the timestamps of the smoothed `geometery_msgs:msg::TwistStamped` cmd_vel message. - - Default is ``false`` for backwards compatibility. - - When ``true``, the timestamps of the sent cmd_vel message follow the rule: - ``cmd_vel_timestamp = cmd_vel_timestamp_of_last_received_command + (timestamp_now - timestamp_at_last_received_command)`` - - Note: This parameter only appears in Jazzy! Smoothing the timestamps is part of the default behavior in newer-than-jazzy distros. + Whether to interpolate the timestamps of the smoothed `geometery_msgs:msg::TwistStamped` cmd_vel message after the last command velocity received. Only available in Jazzy as a backport of the now-default behavior in Lyrical and newer. Default is ``false`` for backwards compatibility. :bond_heartbeat_period: