@mikeferguson let me know what you think. Notable change: instead of publishing zero velocities in the cases, I pushed publishing zero velocities before terminal action server exits instead as a way to make it generic to the shutdown procedure. The rest are just breaking out a few functions for populating structures
@mikeferguson let me know what you think. Notable change: instead of publishing zero velocities in the cases, I pushed publishing zero velocities before terminal action server exits instead as a way to make it generic to the shutdown procedure. The rest are just breaking out a few functions for populating structures