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Add stamp_smoothed_velocity_with_smoothing_time parameter description to velocity_smoother node #846

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Merged
SteveMacenski merged 3 commits into from
Jan 14, 2026
Merged

Add stamp_smoothed_velocity_with_smoothing_time parameter description to velocity_smoother node #846

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4c6a21e
Add stamp_smoothed_velocity_with_smoothing_time parameter description…
AndreiCostinescu Jan 13, 2026
4cb7dea
Fix formatting in configuring-velocity-smoother.rst
AndreiCostinescu Jan 13, 2026
3ef2495
Update configuration/packages/configuring-velocity-smoother.rst
SteveMacenski Jan 13, 2026
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12 changes: 12 additions & 0 deletions configuration/packages/configuring-velocity-smoother.rst
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Expand Up @@ -161,6 +161,17 @@ 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 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:

============== =============================
Expand Down Expand Up @@ -202,3 +213,4 @@ Example
odom_duration: 0.1
use_realtime_priority: false
enable_stamped_cmd_vel: false
stamp_smoothed_velocity_with_smoothing_time: false # ONLY IN JAZZY
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