Patrick Roncagliolo

http://docs.oasis-open.org/ws-dd/discovery/1.1/os/wsdd-discovery-1.1-spec-os.html

`ConfigurationManager::get_entry()` optional return value is not checked

1

**Describe the bug** The software can crash in a very uninformative way if ever the `get_entry()` call fails internally. In fact, the return value is `std::optional` and it may happen...

https://github.com/ros-industrial/ros2_canopen/blob/7687f3276107d81f52e1f961566942508eb07d85/canopen_ros2_control/src/robot_system.cpp#L94-L95 If an user forgets for example: ```xml right_wheel_joint

Add standalone version of LPF (#164)

5

Closes #164. Test passes locally. The old `LowPassFilter` class is now `LowPassFilterRos`. API-breaking since with this patch `LowPassFilter` is a parent class without ROS parameters. @christophfroehlich at least for now...

LowPassFilter accepts parameters only from node

2

I wanted to use `LowPassFilter`, but it seems to me that there is no way to pass parameters via API (like `PID` constructor or `setGains()` call). Wouldn't be better to...