Reza Kermani

Hope it's not too late to open this conversation back up. I think these changes both make sense as @roncapat suggests: 1. add `front_steer_names` and `rear_steer_names` as parameters. 2. add...

@roncapat is raising a fair point, and I think they should stay seperated, at least for now. My thinking was that if we are to use one controller for any...

I think the controller should not overshoot the realistic limits of steering anyway, even if open_loop is true, otherwise the robot description gets to unusable states. I do think however...

I am also confused so I started studying the steering libraries, and I'll leave here what I find in hopes that this might be useful in expediting the process of...

This is a resource that I found useful: https://msl.cs.uiuc.edu/planning/node657.html

I still see this issue in ros2 humble on Ubuntu 22.04 with a PS4 controller. I also cannot find anything in the humble-devel branch mentioning default_trig_val. Is there a solution...

@jbodhey What ros2 distro are you using? What's the code you are running?

@jbodhey Have you checked that all the topics specified [here](https://github.com/introlab/rtabmap_ros/blob/57dd787a589ab40c75b43f1ed72084858440f107/rtabmap_examples/launch/realsense_d435i_color.launch.py#L22C1-L26C73) are being published? Are you running into any errors when you run the script?

@jbodhey try [this](https://github.com/introlab/rtabmap_ros/blob/0f3e5d14b3feece8e8319244cbc3042aa5fa2daa/rtabmap_examples/launch/realsense_d435i_color.launch.py), if the visualization is too laggy change the [unite method](https://github.com/introlab/rtabmap_ros/blob/0f3e5d14b3feece8e8319244cbc3042aa5fa2daa/rtabmap_examples/launch/realsense_d435i_color.launch.py#L44) to `'1'`

@matlabbe You're correct in that the rtabmap does publish the transforms, I was simply running into the issue because I was not setting `sim_time`s correctly, and now it works fine.