Recreate vel cmd components each cycle #141
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Signed-off-by: Michael X. Grey <[email protected]>
xiyuoh
previously approved these changes
Apr 28, 2025
Signed-off-by: Michael X. Grey <[email protected]>
Signed-off-by: Michael X. Grey <[email protected]>
Signed-off-by: Michael X. Grey <[email protected]>
Signed-off-by: Michael X. Grey <[email protected]>
xiyuoh
approved these changes
Apr 30, 2025
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While testing on rolling I ran into an issue where the velocity commands were no longer working.
I discovered a PR in gz-sim which changed the behavior of gz-sim to remove all velocity command components on each cycle of the simulation.
This PR updates
rmf_simulationto accommodate the new gz-sim 9 behavior, which is important for the kilted release since gz-sim 9 is currently on rolling and therefore will be included in kilted.I believe this should be backwards compatible with gz-sim 8 in jazzy.