Julien Kindle

@OrBin thanks a lot, should definitely be merged.

Same here! Currently to achieve this separation of a state estimator controller in ros2control, we have to create a fake actuator holding the state estimate in the hardware interface which...

Hi @secret104278 , I also observed that with ptpd, synchronization works. However, even with your proposed config disabling transport specific checking, I am unable to get the LiDAR to synchronize...

As a consequence, creating [laser filters](http://wiki.ros.org/laser_filters) from parameters seems to be unusable as configuring a filter chain is not possible...