Patrick Roncagliolo

I believe that a big shift of paradigm would be needed here to implement this. Currently, we have `player_options` and `storage_options` structures being a collection of parameter values, not `rclcpp::ParameterValue`s....

There seems to be the possibility to add a callback. https://roboticsbackend.com/ros2-rclcpp-parameter-callback/

Impressive job! I think this is very valuable. At least for now everything seems ok to me, I would maybe suggest to be more explicit in the derivation of some...

Hi! An eSCL-to-WSD adapter could be doable, but I need to learn more about eSCL. Do you have any reference for the protocol? BTW, I plan to implement WSD proxy...

Unfortunately I asked in https://github.com/ros2/rclcpp/pull/1756 and there won't be a backport, seems it is an ABI-breaking fix.

That seems very clean! Love the table for a comprehensive recap.

@christophfroehlich: - at least for now I would keep diff-drive controller aside, because it is a case where you don't point all wheels towards a virtual ICR but you skid...

Some thoughts: - general ackermann robots (all the cases in your table) are based on the concept of "front" & "rear" wheels. - it might be nice to extend long-term...

Have you solved? Does your Lidar provides points in a matrix form (i.e. ordered as pixels, such that there is a corresponding pinhole camera model or a CameraInfo message available)?