In testing that odometry data is being published, found a case in which malformed JointState messages for encoder data could cause the hardware interface to crash. This pull request fixes it.
This also allows not sending velocity estimates of the encoder data, and allowing higher level estimators generate the velocity estimate. Simplifies the allowable implementation.
In testing that odometry data is being published, found a case in which malformed JointState messages for encoder data could cause the hardware interface to crash. This pull request fixes it.
This also allows not sending velocity estimates of the encoder data, and allowing higher level estimators generate the velocity estimate. Simplifies the allowable implementation.