Adds a small TODO to the safety controller for a possible logical error
Switches to the rclcpp_components_register_node functionality to generate binaries. This gets rid of quite a bit of boilerplate code.
Updates all of the package.xml versions in here to be the same version. This doesn't have much practical effect now, but it will if we try to release this into a ROS distribution.
A few more include cleanups.
Registers the random_walker node, otherwise it can't actually be loaded as a component.
Enables the safety controller by default.
All of these changes came out of basic testing locally. Still more testing to do, but these changes certainly improve the situation.
This PR does 6 different things:
rclcpp_components_register_node
functionality to generate binaries. This gets rid of quite a bit of boilerplate code.All of these changes came out of basic testing locally. Still more testing to do, but these changes certainly improve the situation.