Mat198

Remap joint_states on C++ (Failed to fetch current robot state)

3

### Description How can I remap the joint_states topic to use move group interface getCurrentState() on ROS2 C++? It's asked [here](https://answers.ros.org/question/352459/how-to-change-default-joint_states-topic-in-c-script/) without answer for C++. ### Environment * ROS Distro:...

Hybrid planner container with duplicate node name

8

### Description The hybrid_planning_container is duplicated when creating a ComposableNodeContainer. It's seen related to the global planner node. The node name is not duplicated when I remove the global planner...

Save / Dump / Load parameters to / from file using rclcpp

6

### Description Create a function to save parameters to a file inside a C++ node. Something like `node->save_parameters(path);'. This can be useful when the parameters are changed inside a callback...