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                                            Eric Tappan

Added option to obtain velocity directly from joint_state.

Sounds good! That seems to address everything I tried to.

diff_drive_controller doesn't use joint.velocity

Hi, I was wondering what the state of this issue was. A robot I am working with would benefit drastically from using the provided joint velocity rather than making Diff...

diff_drive_controller doesn't use joint.velocity

By crazy random happenstance, I happen to have a pull request with that behavior.

Behavior of global_planner seems unreasonable

This might be a more appropriate topic for [answers.ros.org](http://answers.ros.org), since it involves digging into the specifics of your setup. I would post your question there with as much detail as...