Smooth the timestamp of TwistStamped messages in velocity_smoother by AndreiCostinescu · Pull Request #5861 · ros-navigation/navigation2

AndreiCostinescu · 2026-01-13T07:02:15Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#5857
Primary OS tested on	Ubuntu
Robotic platform tested on	Clearpath ridgeback r100
Does this PR contain AI generated software?	No
Was this PR description generated by AI software?	No

Description of contribution in a few bullet points

The builtin-interfaces/msg/Time stamp message header of the TwistStamped cmd_vel output is also smoothed based on the smoothing time
Compute the delta time between the last received command and the smoothing time
Add this delta time to the header timestamp

Description of documentation updates required from your changes

Commented the code
Updated the README.md

Description of how this change was tested

Similar to #5858

Future work that may be required in bullet points

For Maintainers:

Check that any new parameters added are updated in docs.nav2.org
Check that any significant change is added to the migration guide
Check that any new features OR changes to existing behaviors are reflected in the tuning guide
Check that any new functions have Doxygen added
Check that any new features have test coverage
Check that any new plugins is added to the plugins page
If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists
Should this be backported to current distributions? If so, tag with backport-*.

codecov · 2026-01-13T07:54:45Z

Codecov Report

✅ All modified and coverable lines are covered by tests.

Files with missing lines	Coverage Δ
nav2_velocity_smoother/src/velocity_smoother.cpp	`94.21% <100.00%> (+0.05%)`	⬆️

... and 6 files with indirect coverage changes

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SteveMacenski

Works, but I think we can make this more concise using the class operators. I don't think we need to manually populate the nanoseconds/seconds of the stamp

SteveMacenski · 2026-01-14T15:20:36Z

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>

…t behavior Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com>

…smoother Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com>

Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com>

…e timestamp), set the values individually. Has the advantage of not writing the timestamp two times. Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com>

…os-navigation#5861) * 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> * Revert jazzy-related changes to main Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Undo parametrization of smoothing timestamps and make this the default behavior Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Document the change in timestamp smoothing in the README of velocity_smoother Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Remove whitespace on line 322 to pass cpplint checks Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Part 2 of whitespace removals Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Make the smoothing time computation more concise. Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Instead of copying the whole header (which copies the frame_id and the timestamp), set the values individually. Has the advantage of not writing the timestamp two times. Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> --------- Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com>

…os-navigation#5861) * 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> * Revert jazzy-related changes to main Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Undo parametrization of smoothing timestamps and make this the default behavior Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Document the change in timestamp smoothing in the README of velocity_smoother Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Remove whitespace on line 322 to pass cpplint checks Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Part 2 of whitespace removals Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Make the smoothing time computation more concise. Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Instead of copying the whole header (which copies the frame_id and the timestamp), set the values individually. Has the advantage of not writing the timestamp two times. Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> --------- Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> Signed-off-by: lotusymt <mengtiy5@uci.edu>

…os-navigation#5861) * 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> * Revert jazzy-related changes to main Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Undo parametrization of smoothing timestamps and make this the default behavior Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Document the change in timestamp smoothing in the README of velocity_smoother Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Remove whitespace on line 322 to pass cpplint checks Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Part 2 of whitespace removals Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Make the smoothing time computation more concise. Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Instead of copying the whole header (which copies the frame_id and the timestamp), set the values individually. Has the advantage of not writing the timestamp two times. Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> --------- Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com>

AndreiCostinescu mentioned this pull request Jan 13, 2026

Add new parameter to nav2_velocity_smoother to also smooth the timestamp of TwistStamped messages #5858

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SteveMacenski requested changes Jan 13, 2026

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Comment thread nav2_velocity_smoother/src/velocity_smoother.cpp Outdated

Comment thread nav2_velocity_smoother/src/velocity_smoother.cpp Outdated

Comment thread nav2_velocity_smoother/src/velocity_smoother.cpp Outdated

SteveMacenski linked an issue Jan 13, 2026 that may be closed by this pull request

Jerky behavior caused by same timestamps in TwistStamped messages published by velocity_smoother #5857

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SteveMacenski approved these changes Jan 14, 2026

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AndreiCostinescu added 14 commits January 14, 2026 16:40

Add new parameter to nav2_velocity_smoother that updates the timestam…

38b2459

…p of the smoothed velocity header message Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com>

Update parameter description of stamp_smoothed_velocity_with_smoothin…

15e2609

…g_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 para…

0caf609

…meter examples in nav2_bringup Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com>

Fix lines too long cpplint issues in velocity_smoother.cpp

ad04a3b

Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com>

Rephrase parameter description for improved clarity

11edc45

Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com>

Rename delta time variable for clarity.

9529471

Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com>

Revert jazzy-related changes to main

f5feb45

Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com>

Undo parametrization of smoothing timestamps and make this the defaul…

4e9713f

…t behavior Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com>

Merge branch 'main' of https://github.com/ros-navigation/navigation2

2f90dae

Document the change in timestamp smoothing in the README of velocity_…

38e3469

…smoother Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com>

Remove whitespace on line 322 to pass cpplint checks

25dae73

Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com>

Part 2 of whitespace removals

7320a47

Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com>

Make the smoothing time computation more concise.

fc60e68

Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com>

Instead of copying the whole header (which copies the frame_id and th…

292ae4c

…e timestamp), set the values individually. Has the advantage of not writing the timestamp two times. Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com>

AndreiCostinescu force-pushed the main branch from 1ad1bca to 292ae4c Compare January 14, 2026 16:43

SteveMacenski approved these changes Jan 14, 2026

View reviewed changes

SteveMacenski merged commit 8f357f4 into ros-navigation:main Jan 14, 2026
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Smooth the timestamp of TwistStamped messages in velocity_smoother#5861

Smooth the timestamp of TwistStamped messages in velocity_smoother#5861
SteveMacenski merged 14 commits intoros-navigation:mainfrom
AndreiCostinescu:main

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AndreiCostinescu commented Jan 13, 2026

Basic Info

Description of contribution in a few bullet points

Description of documentation updates required from your changes

Description of how this change was tested

Future work that may be required in bullet points

For Maintainers:

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