ROS 2 twist mux controller #14
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rafal-gorecki
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Aug 6, 2025
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rafal-gorecki
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I haven't read the scope of work before and I'm wondering what you think the added value is. I suggest writing your own package instead of using the ready-made twist_mux package?
twist_mux_controller/include/twist_mux_controller/twist_msg_subscriber.hpp
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twist_mux_controller/include/twist_mux_controller/twist_msg_subscriber.hpp
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rafal-gorecki
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Aug 6, 2025
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This add twist mux controller - a chainable controller designed to process velocity commands from multiple sources and forward them to hardware interfaces or other chainable controllers.
There is also low pass filter, also chainable controller, that allows to apply a low-pass filter to state interfaces.
This changes were designed to be used with heading correction, but as twist mux became even more important it should be finally merged to main. The low pass filter is not that important rn, but as it is already implemented there is no point in keeping it on separate branch.