Add new parameter to nav2_velocity_smoother to also smooth the timestamp of TwistStamped messages#5858
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@AndreiCostinescu, all pull requests must be targeted towards the |
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If the PR should target the main branch, should I make the same changes in the main branch and then open a new pull request for that branch? |
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I don't think think this necessarily needs to be parameterized. I think this is a totally sane way for this to be done. Since we still have the timeout in place to stop if it gets too old, marching the interpolation seems fine.
We do need this forward ported to main so that this is available in Rolling and newer distributions so that when you update, you get this also included.
Here's what I think: For Jazzy keep the parameterized nature so that the existing behavior doesn't change for existing users. For the main PR, remove parameterization and simply do the time interpolation as a part of the main code. Then I can merge the pair.
Open a PR for docs.nav2.org and add to the configuration guide the parameter with a note that it is only in Jazzy and otherwise is the default behavior in all other newer distributions.
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Thanks for you input. I have opened a new pull request #5861 for the main branch to smooth the timestamps of the sent cmd_vel commands by default (not needing a parameter for this). |
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Great! I commented on the other PR with a couple of changes that should be reflected here as well. Otherwise, this should be good to merge by tomorrow :-) |
SteveMacenski
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Jan 14, 2026
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With that frame_id change, can you also fix the DCO job? |
…p of the smoothed velocity header message Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com>
…g_time in nav2_velocity_smoother/README.md Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com>
…meter examples in nav2_bringup Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com>
Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com>
Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com>
Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com>
Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com>
…e and 2) make the difference explicit between using and not using the new parameter Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com>
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…amp of TwistStamped messages (ros-navigation#5858) * Add new parameter to nav2_velocity_smoother that updates the timestamp of the smoothed velocity header message Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Update parameter description of stamp_smoothed_velocity_with_smoothing_time in nav2_velocity_smoother/README.md Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Add new parameter stamp_smoothed_velocity_with_smoothing_time in parameter examples in nav2_bringup Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Fix lines too long cpplint issues in velocity_smoother.cpp Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Rephrase parameter description for improved clarity Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Rename delta time variable for clarity. Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Make the time-smoothing computation more concise. Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Change code to 1) not write the timestamp in the cmd_vel->header twice and 2) make the difference explicit between using and not using the new parameter Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> --------- Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com>
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* Backport RouteTool RViz plugin to Jazzy (ros-navigation#5663) (ros-navigation#5727) * Backport RouteTool RViz plugin to Jazzy (ros-navigation#5663) Adds the RouteTool panel to nav2_rviz_plugins for creating and editing route graphs in RViz2. Changes: - Add route_tool.hpp/cpp with Jazzy-compatible namespaces - Add nav2_route dependency to nav2_rviz_plugins - Fix nav2_route include export paths - Add UI resources and launch files for RouteTool Jazzy compatibility fixes: - Use nav2_util::LifecycleNode instead of nav2::LifecycleNode - Use rclcpp::Subscription instead of nav2::Subscription Tested: Builds successfully, plugin loads in RViz2 Signed-off-by: Prathmesh Atkale <atkaleprathmesh@gmail.com> * fix Linting: added newline at end of file Signed-off-by: Prathmesh Atkale <atkaleprathmesh@gmail.com> * Fix linting: remove blank line at end of Python file Signed-off-by: Prathmesh Atkale <atkaleprathmesh@gmail.com> * Fix uncrustify formatting for route_tool files Signed-off-by: Prathmesh Atkale <atkaleprathmesh@gmail.com> * Updated nav2_route/CMakeLists.txt to original Jazzy Signed-off-by: Prathmesh Atkale <atkaleprathmesh@gmail.com> * Fix RouteTool backport to jazzy - Changed nav2::LifecycleNode to nav2_util::LifecycleNode (correct namespace for jazzy) - Fixed plugins_description.xml: changed base_class_type from rviz_common::Tool to rviz_common::Panel Tested in RViz - plugin loads correctly and creates route graph nodes/edges. Signed-off-by: Prathmesh Atkale <atkaleprathmesh@gmail.com> --------- Signed-off-by: Prathmesh Atkale <atkaleprathmesh@gmail.com> * Backport GetCurrentPose, ArePosesNear, and ConcatenatePaths BT nodes for Route Server in Jazzy, and minimal BT for navigation. (ros-navigation#5755) * Backported GetCurrentPose, ConcatenatePaths and ArePosesNear BT nodes to Jazzy Signed-off-by: Pau Reverté <pau.reverte@eurecat.org> * Created minimum BT for navigation using RouteServer, without replanning Signed-off-by: Pau Reverté <pau.reverte@eurecat.org> * GetCurrentPose and ArePosesNear use deconflictPortAndParamFile for frames Signed-off-by: Pau Reverté <pau.reverte@eurecat.org> * Apply cpplint and uncrustify formatting corrections for new BT nodes Signed-off-by: Pau Reverté <pau.reverte@eurecat.org> * Original copyright Signed-off-by: Pau Reverté <pau.reverte@eurecat.org> * Added test for GetCurrentPose, ConcatenatePaths and ArePosesNear Signed-off-by: Pau Reverté <pau.reverte@eurecat.org> * Correct copyright for GetCurrentPose Signed-off-by: Pau Reverté <pau.reverte@eurecat.org> * GetCurrentPose heritages from BT::ActionNodeBase Signed-off-by: Pau Reverté <pau.reverte@eurecat.org> * ArePosesNear uses isStatusActive Signed-off-by: Pau Reverté <pau.reverte@eurecat.org> * Added route_server to server_handler for BT test in building Signed-off-by: Pau Reverté <pau.reverte@eurecat.org> * GetCurrentPose, ArePosesNear and ConcatenatePaths closer to main branch structure Signed-off-by: Pau Reverté <pau.reverte@eurecat.org> * Removed new BT with routes and nav2_system_tests additions for testing this tree, back to original Signed-off-by: Pau Reverté <pau.reverte@eurecat.org> * Removed override of halt function for get_current_pose_action.cpp Signed-off-by: Pau Reverté <pau.reverte@eurecat.org> * Removed default values for input ports of GetCurrentPose Signed-off-by: Pau Reverté <pau.reverte@eurecat.org> --------- Signed-off-by: Pau Reverté <pau.reverte@eurecat.org> * Groot monitoring support back ported to jazzy (ros-navigation#5762) * Groot monitoring support back ported to jazzy Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * add test_json_utils to CMakeLists.txt Signed-off-by: mikeslembrouckZYGO <mike.slembrouck@zygo.be> Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * Remove WaypointStatus tests from JsonTest Removed tests related to WaypointStatus from JsonTest class. Signed-off-by: mikeslembrouckZYGO <mike.slembrouck@zygo.be> Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * Add JSON parsing support for key conversion in bt_utils Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * Add Groot monitoring support in system tests and parameters Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * Fix uncrustify and flake8 errors Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * Fix extra blank line in nav_to_pose_tester_node.py Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * Remove unused Groot-related code and parameters Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * Add JSON type registration for ports in behavior tree plugins Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * Update JSON type registration to use `std::vector<geometry_msgs::msg::PoseStamped>` instead of `nav_msgs::msg::Goals` Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * Include `json_export` header in behavior tree plugins to enable JSON export functionality Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * Revert header include order Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * Remove unnecessary blank line in header file Signed-off-by: mikeslembrouckZYGO <mike.slembrouck@zygo.be> * Remove extra blank lines Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> --------- Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> Signed-off-by: mikeslembrouckZYGO <mike.slembrouck@zygo.be> * Backport jazzy: Update obstacle layer usage of max range (ros-navigation#5775) * Update obstacle layer usage of max ranges (ros-navigation#5697) * Use cell distance for obstacle marking max range Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Don't raytrace clear the cell containing the current observation Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Add tests for max marking and clearing ranges Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Fix cpplint failures Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Fix distance calculation Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * fix casting, formatting Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * check origin is in map, update CMakeLists Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * use hypot instead of squared dist Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Move origin calc out of loop Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Revert don't raytrace observation cell Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Revert don't raytrace origin if it is observation cell Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Remove new line Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> --------- Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Fix tests for jazzy Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> --------- Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * fix typo in route tool plugin name (ros-navigation#5809) Signed-off-by: EricoMeger <ericomeger9@gmail.com> * fix Z base frame transformation (ros-navigation#5794) (ros-navigation#5815) (cherry picked from commit 4534ff1) Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * Fix initialize in drive on heading action node (ros-navigation#5842) Signed-off-by: Maurice <mauricepurnawan@gmail.com> Co-authored-by: Johannes Plapp <johannes.plapp@logivations.com> * Add symmetric goal for goal checker and mppi goal angle critic (ros-navigation#5833) (ros-navigation#5848) * Add symmetric goal for goal checker and mppi goal angle critic * Lint * Update nav2_mppi_controller/README.md --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Signed-off-by: Maurice Alexander Purnawan <mauricepurnawan@gmail.com> Co-authored-by: Sandeep Dutta <quark01@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * [Jazzy] Optimize MPPI visualization to skip processing when no subscribers (ros-navigation#5807) * Optimize MPPI visualization to skip processing when no subscribers - Added subscription count check in TrajectoryVisualizer::add Signed-off-by: SatArw <satwik090202@gmail.com> * Update nav2_mppi_controller/src/trajectory_visualizer.cpp Remove redundant brackets in the if statement. Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Satwik Arawalli <96329337+SatArw@users.noreply.github.com> --------- Signed-off-by: SatArw <satwik090202@gmail.com> Signed-off-by: Satwik Arawalli <96329337+SatArw@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Add new parameter to nav2_velocity_smoother to also smooth the timestamp of TwistStamped messages (ros-navigation#5858) * Add new parameter to nav2_velocity_smoother that updates the timestamp of the smoothed velocity header message Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Update parameter description of stamp_smoothed_velocity_with_smoothing_time in nav2_velocity_smoother/README.md Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Add new parameter stamp_smoothed_velocity_with_smoothing_time in parameter examples in nav2_bringup Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Fix lines too long cpplint issues in velocity_smoother.cpp Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Rephrase parameter description for improved clarity Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Rename delta time variable for clarity. Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Make the time-smoothing computation more concise. Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Change code to 1) not write the timestamp in the cmd_vel->header twice and 2) make the difference explicit between using and not using the new parameter Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> --------- Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Fix MAX_NON_OBSTACLE_COST in theta star planner (ros-navigation#5865) (ros-navigation#5868) (cherry picked from commit 018dca9) Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Co-authored-by: Maurice Alexander Purnawan <mauricepurnawan@gmail.com> * Jazzy sync Jan 23, 2026 (ros-navigation#5890) * No need to spam the logs (ros-navigation#5674) Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl> * Conditionally call onLoop based on node status (ros-navigation#5700) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Allow for no progress checkers to be configured (ros-navigation#5701) Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> * Fix: wait for drive_on_heading_client instead of backup_client (ros-navigation#5724) The basic navigator was waiting for the backup_client in the driveOnHeading function. Signed-off-by: agennart <antoine.gennart@quimesis.be> Co-authored-by: agennart <antoine.gennart@quimesis.be> * Fix: reset controller_server loop_rate when missed desired rate ros-navigation#5712 (ros-navigation#5723) When a single iteration takes longer than the expected period, this impacts the next iterations behavior since they will have less time to perform the control logic, thus increasing the actual controller_frequency. By resetting the loop_rate on sleep() failure, this ensures that each iteration will have a full period to exectue its logic. Signed-off-by: agennart <antoine.gennart@quimesis.be> Co-authored-by: agennart <antoine.gennart@quimesis.be> * temporary fix bug null pointer (ros-navigation#5749) * temporary fix bug null pointer Signed-off-by: suifengersan123 <yangabc810@gmail.com> * add return Signed-off-by: suifengersan123 <yangabc810@gmail.com> * remove return Signed-off-by: suifengersan123 <yangabc810@gmail.com> --------- Signed-off-by: suifengersan123 <yangabc810@gmail.com> * fix: change warning to exception when goal poses cannot be transformed (ros-navigation#5759) - Replace RCLCPP_WARN with std::runtime_error exception in onPreempt method - Remove bt_action_server_->terminatePendingGoal() call after accepting goal - Add required stdexcept include for exception handling Fixes issue where navigators accept pending goal but are not properly terminated if rejected during goal pose transformation. Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com> * Update obstacle layer usage of max ranges (ros-navigation#5697) * Use cell distance for obstacle marking max range Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Don't raytrace clear the cell containing the current observation Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Add tests for max marking and clearing ranges Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Fix cpplint failures Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Fix distance calculation Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * fix casting, formatting Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * check origin is in map, update CMakeLists Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * use hypot instead of squared dist Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Move origin calc out of loop Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Revert don't raytrace observation cell Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Revert don't raytrace origin if it is observation cell Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Remove new line Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> --------- Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * [mppi] Don't reset zone-based speed limits (ros-navigation#5768) * [mppi] Don't reset zone-based speed limits Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * [mppi] update motion model params from speed_limit Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * fix linting issue Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * Revert: reset speed limits after param change Signed-off-by: Adi Vardi <adi.vardi@enway.ai> --------- Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * Bugfix inactive publishers (ros-navigation#5748) * Do not publish costmap unless active Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Fix style Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Fix typo Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Use layers isEnabled() to prevent publishing Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Fix style Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Add missing include for CostmapLayer type Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Remove extra scoping Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> --------- Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> Co-authored-by: Christopher Thompson <cthompson@metalsharkboats.com> * Fix MAX_NON_OBSTACLE_COST in theta star planner (ros-navigation#5865) Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Bump jazzy to 1.3.11 for release Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> --------- Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> Signed-off-by: agennart <antoine.gennart@quimesis.be> Signed-off-by: suifengersan123 <yangabc810@gmail.com> Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> Signed-off-by: Adi Vardi <adi.vardi@enway.ai> Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Co-authored-by: Tim Clephas <tim.clephas@nobleo.nl> Co-authored-by: Saitama <gennartan@users.noreply.github.com> Co-authored-by: agennart <antoine.gennart@quimesis.be> Co-authored-by: suifengersan123 <136066397+suifengersan123@users.noreply.github.com> Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com> Co-authored-by: Simon Dathan <simon.dathan@kudan.eu> Co-authored-by: Adi Vardi <57910756+adivardi@users.noreply.github.com> Co-authored-by: Christopher Thompson <pele1410@gmail.com> Co-authored-by: Christopher Thompson <cthompson@metalsharkboats.com> Co-authored-by: Maurice Alexander Purnawan <mauricepurnawan@gmail.com> * Fix parameters in route server (backport Jazzy) (ros-navigation#5904) * Fix parameters in route server (backport Jazzy) Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Add cancel timeout when cancelling actions (backport Jazzy) (ros-navigation#5903) * Add cancel timeout when cancelling actions (backport Jazzy) Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Declare parameter Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Update cancel timeout Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Backport docking in reverse fixes for jazzy (ros-navigation#5971) * Increase docking coverage && fix backward docking (backport Jazzy) (ros-navigation#5097) * Increase docking coverage && fix backward docking (backport Jazzy) Signed-off-by: Iacopo Moles <iacopo@icpmol.es> Increase docking coverage && fix backward docking (ros-navigation#5097) * Add dock_database tests Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Add utils test Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Improve filter tests Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added simple charging tests Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Improve comments Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix backward and redo main test Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Change test period to reduce test time Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Revert "Change test period to reduce test time" This reverts commit ef1555e. Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Delete print pose Signed-off-by: Alberto Tudela <ajtudela@gmail.com> --------- Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Signed-off-by: Iacopo Moles <iacopo@icpmol.es> * bump package versions Signed-off-by: Iacopo Moles <iacopo@icpmol.es> * Revert "bump package versions" This reverts commit a35c23d. Signed-off-by: Iacopo Moles <iacopo@icpmol.es> --------- Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Signed-off-by: Iacopo Moles <iacopo@icpmol.es> Co-authored-by: Alberto Tudela <ajtudela@gmail.com> --------- Signed-off-by: Prathmesh Atkale <atkaleprathmesh@gmail.com> Signed-off-by: Pau Reverté <pau.reverte@eurecat.org> Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> Signed-off-by: mikeslembrouckZYGO <mike.slembrouck@zygo.be> Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> Signed-off-by: EricoMeger <ericomeger9@gmail.com> Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: Maurice <mauricepurnawan@gmail.com> Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Signed-off-by: Maurice Alexander Purnawan <mauricepurnawan@gmail.com> Signed-off-by: SatArw <satwik090202@gmail.com> Signed-off-by: Satwik Arawalli <96329337+SatArw@users.noreply.github.com> Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> Signed-off-by: agennart <antoine.gennart@quimesis.be> Signed-off-by: suifengersan123 <yangabc810@gmail.com> Signed-off-by: Adi Vardi <adi.vardi@enway.ai> Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Signed-off-by: Iacopo Moles <iacopo@icpmol.es> Co-authored-by: Prathmesh2931 <145354550+Prathmesh2931@users.noreply.github.com> Co-authored-by: Pau Reverté <122558118+preverte@users.noreply.github.com> Co-authored-by: mikeslembrouckZYGO <mike.slembrouck@zygo.be> Co-authored-by: Simon Dathan <simon.dathan@kudan.eu> Co-authored-by: Érico Meger <86668447+EricoMeger@users.noreply.github.com> Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Maurice Alexander Purnawan <mauricepurnawan@gmail.com> Co-authored-by: Johannes Plapp <johannes.plapp@logivations.com> Co-authored-by: Sandeep Dutta <quark01@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Satwik Arawalli <96329337+SatArw@users.noreply.github.com> Co-authored-by: Andrei Costinescu <AndreiCostinescu@users.noreply.github.com> Co-authored-by: Tim Clephas <tim.clephas@nobleo.nl> Co-authored-by: Saitama <gennartan@users.noreply.github.com> Co-authored-by: agennart <antoine.gennart@quimesis.be> Co-authored-by: suifengersan123 <136066397+suifengersan123@users.noreply.github.com> Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com> Co-authored-by: Adi Vardi <57910756+adivardi@users.noreply.github.com> Co-authored-by: Christopher Thompson <pele1410@gmail.com> Co-authored-by: Christopher Thompson <cthompson@metalsharkboats.com> Co-authored-by: Iacopo Moles <8940011+icpmoles@users.noreply.github.com> Co-authored-by: Alberto Tudela <ajtudela@gmail.com>
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Add parameter to velocity_smoother controlling whether to overwite the timestamp of the smoothed message or to keep the timestamp of the last received command.
Basic Info
Description of contribution in a few bullet points
stamp_smoothed_velocity_with_smoothing_timeparameter to velocity_smoother node.builtin-interfaces/msg/Time stampmessage header of the TwistStamped output is also smoothed based on the smoothing time.Description of documentation updates required from your changes
Description of how this change was tested
Previous output:
cmd_vel_data_sim.txt
Current output with
stamp_smoothed_velocity_with_smoothing_timeparameter set to true:cmd_vel_data_sim_withParameterEnabled.txt
Future work that may be required in bullet points
For Maintainers:
backport-*.