cmd_vel is currently passed around a lot in the robot before it gets to the drivetrain. As the estop will be shifting to zero-code, and velocity scaling will be done within the ros2 control plugin, this can be simplified such that nav2 outputs directly to the drivetrain.
cmd_vel is currently passed around a lot in the robot before it gets to the drivetrain. As the estop will be shifting to zero-code, and velocity scaling will be done within the ros2 control plugin, this can be simplified such that nav2 outputs directly to the drivetrain.