Gabriel Alcantara

Hi @bmagyar, I believe I pushed your requested changes, however I forgot to ping you =)

> We should guard on `period` being negative, which corresponds to `cmd_dt` rather than `dt`, Could you also duplicate this over to `ackermann_steering_controller` and `four_wheel_steering_controller`? Those controllers all use the...

Hi, I did the asked changes. However I have one question still. I was getting a lot of negative values for `dt`. What is the meaning of this? should we...

Hi, I was just testing the entire chain and I just realized that setting curr_cmd to zero doesn't guard against the bug because it will be still inserted on the...

Fair enough, I did the changes

Hi @bmagyar and @matthew-reynolds, I am forcing cmd_dt to zero when we have a negative period. This forces all jerk and acceleration to be zero and then we are forwarding...

This [PR](https://github.com/ros-controls/ros_controllers/pull/564) addresses this issue.