ros-controls / ros-controls/ros2_controllers
Forward command controllers safety timeout
Open
@ShahazadAbdulla is already working on this.
Since Apr 27, 2026.
persistent
stale
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- C++
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Description
A typical issue of forward velocity and forward effort controllers is that there's currently no way to tell when a message has been received and deduct whether the last received message should still be active.
This limitation is reinforced by the Float64 topic interface. Using a stamped message it could easily be detected whether a command has gone stale.
Tagging @dignakov for interest and @olivier-stasse for more references.
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