Paul Gesel

> This looks very cool! What do you think that we create a rqt plugin for that? I was taking inspiration from `ros2 run tf2_tools view_frames.py` described [here](https://docs.ros.org/en/foxy/Tutorials/Intermediate/Tf2/Introduction-To-Tf2.html), but I...

> That is a very cool feature indeed. In general a plugin that displays the state of each controller(active, inactive, hardware interface claimed) with features like the one that existed...

> > Only simple chains are supported currently. That is, controller can only chain to at most one other controller > > Why? It does not sound like it would...

The main benefit of parameters is that the user can dynamically configure compiled code without the need to recompile. However, the biggest issue I see with the current approach is...

> Regarding the autogenerated parameter struct (and the gen_param_struct repo), this appears to be a common misconception from the habits of ROS1. You shouldn't be having member variables for storing...

> Out of curiosity, does it not depend also on [ros-controls/ros2_control#462](https://github.com/ros-controls/ros2_control/pull/462) ? I meant to remove any dependencies on the joint limits interface because it is not strictly necessary for...

> @destogl do you know if this change is still needed for something in ros2_control or should I close this? > > @pac48 do you remember where we ended up...

@davidDS96 You will also need this fork on roslibjs https://github.com/pac48/roslibjs/tree/pr-add-TF2Client in order to use the tf2_web_republisher. I added a class called TF2Client that you need to use. Also, make sure...

@davidDS96 You will need to use the fork in your package.json, something like this `"roslib": "github:pac48/roslibjs#pr-add-TF2Client"` Then run `pnpm install`. Although, I will make a PR to merge it into...

@Nick-PAN You should be able to clone the roslibjs repo and run `pnpm install` to install of of its dependencies. Then, you should be able to add it to your...