JaeHyeok Lee

Duplicate ROS 2 nodes created due to CLaserOdometry2D inheriting from rclcpp::Node

1

## Description When `CLaserOdometry2D` inherits directly from `rclcpp::Node`, it results in the creation of duplicate nodes during execution. ## Reproduction ### When executed using `ros2 run`: ```bash $ ros2 node...

diff_drive_controller publishes non-zero floating-point residual velocities when robot is stopped

3

**Describe the bug** When the robot is stationary, the diff_drive_controller continues publishing non-zero linear.x and angular.z values in the odometry message. After motion stops, both fields remain constant at fixed...