Matt Reynolds

Ping @francofusco as the one who knows most about this. I'll need to give this a proper review tomorrow but my initial impression is that clipping/saturating the current position seems...

Thanks for jumping on this @francofusco and for the awesome breakdown. > `current_position` should contain the actual position of the motor Thanks for articulating this more clearly that I did....

Looks like something that was added in 2013 (https://github.com/ros-controls/ros_controllers/pull/35) to lay the groundwork in case anyone wanted to build on it later, but no one ever found it necessary to...

@KaranManghi It looks like that package doesn't actually use `ros_controller`'s `ackermann_steering_controller`, they're performing all the wheel speed calculations themselves. This is why you aren't seeing odometry data published. If you...

@destogl Thanks for opening an issue to track this. Can you assign me to it? I'll get started on it.

>Is it possible something broke ABI compatibility in ros-control recently? #395, almost definitely. It added new member functions and new member variables to Actuator, Joint, and Transmission handles. Looking back,...

I think we probably want to just set the `cmd_dt` to 0. That should force the acceleration and jerk to be 0 - In other words, maintain the same vel...

> The devel space should not be used Interesting, can you elaborate on that? I got the impression from that issue that it would be preferable to use the devel...

>The devel space was mostly a hack [...] In addition, colcon does not support it anymore. Got it. In that case, once we resolve this colcon build problem, I will...

@bmagyar @davetcoleman Is there still a desire to get these pulled into the main repo? If so, I'm happy to start chipping away at it.