Joseph Schornak

I'd need to investigate how ROS2 handles plugins, since `simulator_plugins.h` uses an `XmlRpcValue` which I think is a ROS1-exclusive thing. The changes you've made to `sim_depth_camera.cpp` look good and are...

Clearly I'll need to make some changes to help CI succeed.

> Can I merge #11 before you complete this? I think that makes sense. There's certainly some overlap between the two PRs.

Are the redundant octomaps all created at the same time, or sequentially? If the pose of the TSDF reconstruction volume changes after mapping starts then it behaves as if objects...

There isn't any feedback from the TSDF reconstruction to the placement of the candidate poses and the casting of the rays. As a simplification I had assumed that if the...

`Why exactly would ICP give weird results? Is this again because it being a simulated camera and we already have the current tf? Shouldn't it actually give smoother results compared...

> Sorry for the incredibly long delay. LGTM. Thank you for following up! I just created #786 to backport this fix to Humble as well.

> For instance, without `automatically_declare_parameters_from_overrides`, it would not be possible to create a blackboard node in ROS 2. Do you have an example of a package with a node that...

@saikishor one approach I've used to do that sort of thing is conditionally declaring parameters very close to their point of use. I haven't tested this in a situation that's...

> https://github.com/ros2/demos/blob/019b64d5ed5d5540212dab275121dc76ccef18cb/demo_nodes_cpp/src/parameters/parameter_blackboard.cpp is the canonical example. I don't know how heavily it is used, though. @clalancette one way to measure how many projects use this pattern is to [search Github...