No safe way of sending commands to the base controller as far as I can tell (ros ticket #4279)

[ahendrix]

As far as I can tell, the only way to command the base controller is a Twist message. Since the message contains no timestamp, there is no way to prevent delays in command messages from being detected.

I would love to be able to specify the time at which the command I am sending to the base controller becomes invalid. This would be easier to use and more flexible than the current parameter for the controller, and would be robust to delayed delivery of the command message.

It seems like it would be easy to add this feature without breaking backward compatibility by adding an alternate command topic.

Let me know if I'm missing something and there is a safe way of doing this.

trac data:

• Owner: sachinc
• Reporter: blaise
• Reported at: Wed May 5 12:30:03 2010
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/4279