The controller holds on to its latest position setpoint and keeps publishing command velocities indefinitely. This PR proposes to put a timeout on the input. If we didn't receive any "trajectory point" input for x seconds, we switch back to the "waiting for setpoint" state (enabled, but idle), suspending the publishing of cmd vel until a new setpoint is received.
The controller holds on to its latest position setpoint and keeps publishing command velocities indefinitely. This PR proposes to put a timeout on the input. If we didn't receive any "trajectory point" input for x seconds, we switch back to the "waiting for setpoint" state (enabled, but idle), suspending the publishing of cmd vel until a new setpoint is received.