Michael Carroll

@osrf-jenkins retest this please

CI failures are unrelated to this PR.

> I don't think I can't say much of the unit tests, the rest looks good to me (besides a minor comment). I updated the tests to actually check the...

This was mainly asking out of curiosity. I agree that the APIs are quite complex, and was mainly interested in why the divergence between the two (ogre and ogre-next), when...

Apologies @samagalhaes I was in the middle of getting that massive forward port landed. Let me know if you need help rebasing this.

@samagalhaes are you going to open another PR for this?

I have a large port from galactic to rolling to get in (#275) and then I think we will be good for a release.

CI errors here should all be false positives as this doesn't actually touch code.

@osrf-jenkins retest this please

@osrf-jenkins retest this please