Matt Reynolds

I think we should also add a "This method is non-realtime-safe" where appropriate to be explicit. Otherwise, no comment would be ambiguous between "Not yet documented" and "Non-RT-safe" I think...

See #55 and #280 for the original discussion and PR adding this package. @vincentrou As the original author of the four_wheel_steering_controller, would you be able to help out with the...

This LGTM, glad to hear that the issue has been identified by others and the fix has been validated there too. Plus, the math makes sense. I think part of...

Pardon the mess of references above, had some configuration issues with our fork. It's been a few years without much word on updates to this issue, so when I ran...

@bmagyar I'm new to unit tests with ROS but I've now setup a rostest-gtest that is able to reliably reproduce the issue (See [here](https://github.com/trexorobotics/ros_controllers/commit/35d55138abc5147b25170d1966f003f559a91127)). My problem, however, is then causing...

@mferenduros Last I heard it seemed to be doing well, I'm not involved with that project anymore though so I'll confirm and get back to you. @bmagyar I haven't looked...

I totally dropped the ball on this. The project I was a part of in 2019 has been using https://github.com/ros-controls/ros_controllers/commit/314c63a72b41c66bbad59d2991482f5eca29aafd for almost 3 years now without issue. Admittedly, some other...

> Shouldn't there be something like `prev_time = time` Yup, you're right, there should be. Would appreciate a PR adding that line! > I wonder why this is missing here...

> IMHO tests belong with the tested code I would agree, but I think the cost of pulling in all these heavy dependencies outweighs the preference of putting the tests...

This change has no dependence on your last 2 PRs, could you please trim the branch down to just the relevant commit to make it easier to review and merge.