While re-running beluga_vs_nav2 benchmarks, I came across a few kinks in lambkin-shepherd. Some things broke or were left in a less than ideal state since (and with) the last few changes. This PR is a bit of a compendium of changes to address this, aggregated for convenience. It could be split. I didn't to avoid having dozens of PRs flying around.
Type of change
[x] 🐛 Bugfix (change which fixes an issue)
[ ] 🚀 Feature (change which adds functionality)
[ ] 📚 Documentation (change which fixes or extends documentation)
Checklist
Put an x in the boxes that apply. This is simply a reminder of what we will require before merging your code.
[x] Lint and unit tests (if any) pass locally with my changes
[x] I have added tests that prove my fix is effective or that my feature works
[x] I have added necessary documentation (if appropriate)
Proposed changes
While re-running
beluga_vs_nav2benchmarks, I came across a few kinks inlambkin-shepherd. Some things broke or were left in a less than ideal state since (and with) the last few changes. This PR is a bit of a compendium of changes to address this, aggregated for convenience. It could be split. I didn't to avoid having dozens of PRs flying around.Type of change
Checklist
Put an
xin the boxes that apply. This is simply a reminder of what we will require before merging your code.Additional comments